#pragma once #include namespace Settings { const int numParticles = 5000; const std::string mapDir = "../map/"; 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 PlotCircles = true; const bool PlotToPng = false; const bool UseKalman = false; const bool UseRSSI = false; /** describes one dataset (map, training, parameter-estimation, ...) */ // NUC Gen6 - Intel AC 8260 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"); // NUC Gen7 - Intel AC 9461 const MACAddress NUC5("d0:c6:37:bc:5c:41"); const MACAddress NUC6("d0:c6:37:bc:77:8a"); const MACAddress NUC7("d0:c6:37:bc:77:ad"); const MACAddress NUC8("d0:c6:37:bc:6b:4b"); static int nucIndex(const MACAddress& addr) { if (addr == Settings::NUC1) return 0; if (addr == Settings::NUC2) return 1; if (addr == Settings::NUC3) return 2; if (addr == Settings::NUC4) return 3; if (addr == Settings::NUC5) return 4; if (addr == Settings::NUC6) return 5; if (addr == Settings::NUC7) return 6; if (addr == Settings::NUC8) return 7; else { assert(false); return 0; } } static MACAddress nucFromIndex(int idx) { switch (idx) { case 0: return NUC1; case 1: return NUC2; case 2: return NUC3; case 3: return NUC4; case 4: return NUC5; case 5: return NUC6; case 6: return NUC7; case 7: return NUC8; default: assert(false); return NUC1; } } struct NUCSettings { int ID = 0; Point3 position = { 0,0,0 }; float ftm_offset = 0.0f; float rssi_pathloss = 0.0f; float kalman_measStdDev = 0.0f; float kalman_procNoiseDistStdDev = 0.0f; // standard deviation of distance for process noise float kalman_procNoiseVelStdDev = 0.0f; // standard deviation of velocity for process noise }; struct DataSetup { std::string name; std::string map; std::vector training; std::unordered_map NUCs; std::vector gtPath; bool HasNanoSecondTimestamps; NUCSettings nucInfo(int idx) const { return NUCs.at(nucFromIndex(idx)); } NUCSettings nuc(const MACAddress& mac) const { return NUCs.at(mac); } }; /** all configured datasets */ const struct Data { const DataSetup Path0 = { "path0", mapDir + "map0_ap_path0.xml", { dataDir + "Pixel2/Path0_0605.csv", }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 7.5, 18.7, 0.8}, 1.25, 3.375, 6.156} }, // NUC 1 { NUC2, {2, { 8.6, 26.8, 0.8}, 2.00, 3.000, 5.650} }, // NUC 2 { NUC3, {3, {21.6, 19.1, 0.8}, 1.75, 3.375, 6.107} }, // NUC 3 { NUC4, {4, {20.8, 27.1, 0.8}, 2.75, 2.750, 3.985} }, // NUC 4 }, { 0, 1, 2, 3 }, false }; // 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", dataDir + "Pixel2/path1/1560153989866_2_2.csv", dataDir + "Pixel2/path1/1560154049481_2_3.csv", dataDir + "Pixel2/path1/1560154143357_2_4.csv", dataDir + "Pixel2/path1/1560154188048_2_5.csv", dataDir + "Pixel2/path1/1560154230042_2_6.csv" }, { { NUC1, {1, { 8.1, 18.7, 0.8}, 2.25, 0, 10.0f} }, // NUC 1 { NUC2, {2, { 8.4, 27.3, 0.8}, 3.25, 0, 10.0f} }, // NUC 2 { NUC3, {3, {21.3, 19.3, 0.8}, 2.50, 0, 10.0f} }, // NUC 3 { NUC4, {4, {20.6, 26.8, 0.8}, 3.00, 0, 10.0f} }, // NUC 4 }, { 1, 2, 6, 7, 6, 2, 1 }, false }; // 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", 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 { NUC2, {2, { 8.4, 27.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 2 { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3 { NUC4, {4, {20.6, 26.8, 0.8}, 2.00, 0, 3.0f} }, // NUC 4 }, { 7, 6, 2, 1, 2, 6, 7 }, false }; // 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", 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 { NUC2, {2, { 8.4, 27.3, 0.8}, 2.00, 0, 3.0f} }, // NUC 2 { NUC3, {3, {21.3, 19.3, 0.8}, 1.75, 0, 3.0f} }, // NUC 3 { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4 }, { 1, 2, 6, 7, 6, 2, 1, 2, 6, 7, 6, 2, 1 }, false }; // 4 Path: In Räumen const DataSetup Path4 = { "path4", 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 { NUC2, {2, { 8.4, 27.3, 0.8}, 1.25, 0, 3.0f} }, // NUC 2 { NUC3, {3, {21.3, 19.3, 0.8}, 2.25, 0, 3.0f} }, // NUC 3 { NUC4, {4, {20.6, 26.8, 0.8}, 2.25, 0, 3.0f} }, // NUC 4 }, { 0, 1, 2, 3, 2, 6, 5, 6, 7, 8 }, false }; // 5 Path: In Räumen extendend const DataSetup Path5 = { "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}, 0.00, 3.375, 3.0f} }, // NUC 1 { NUC2, {2, { 8.4, 27.3, 0.8}, 0.00, 3.375, 3.0f} }, // NUC 2 { NUC3, {3, {21.3, 19.3, 0.8}, 0.00, 3.250, 3.0f} }, // NUC 3 { NUC4, {4, {20.6, 26.8, 0.8}, 0.00, 3.375, 3.0f} }, // NUC 4 }, { 0, 1, 2, 11, 10, 9, 10, 11, 2, 6, 5, 12, 13, 12, 5, 6, 7, 8 }, false }; // 6 Path: SHL Path 1 const DataSetup Path6 = { "path6", mapDir + "shl.xml", { dataDir + "Pixel2/path6/14681054221905_6_1.csv" }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 54, 46, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 1 { NUC2, {2, { 45, 37, 0.8}, 5.00, 3.375, 3.0f} }, // NUC 2 { NUC3, {3, { 27, 45, 0.8}, 5.00, 3.250, 3.0f} }, // NUC 3 { NUC4, {4, { 16, 36, 0.8}, 5.75, 3.375, 3.0f} }, // NUC 4 }, { 100, 101, 102, 103, 104, 103, 102, 101, 100 }, true }; // 7 Path: SHL Path 2; Versuche mit NUCs in den Räumen const DataSetup Path7 = { "path7", mapDir + "shl.xml", { dataDir + "Pixel2/path7/23388354821394.csv", dataDir + "Pixel2/path7/23569363647863.csv", dataDir + "Pixel2/path7/23776390928852.csv", dataDir + "Pixel2/path7/23938602403553.csv" }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 54, 46, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 1 { NUC2, {2, { 45, 37, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 2 { NUC3, {3, { 27, 45, 0.8}, 0.0, 3.250, 3.0f} }, // NUC 3 { NUC4, {4, { 16, 36, 0.8}, 0.0, 3.375, 3.0f} }, // NUC 4 }, { 100, 102, 103, 104, 105, 104, 103, 102, 100 }, true }; // 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 dataDir + "Pixel2/path8/25439520303384.csv", // tür }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 { NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2 { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3 { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4 }, { 100, 102, 103, 104, 105, 104, 103, 102, 100 }, true }; // 9 Path: SHL Path 3, NUCs stehen im Gang const DataSetup Path9 = { "path9", mapDir + "shl_nuc_gang.xml", { dataDir + "Pixel2/path9/27911186920065.csv", dataDir + "Pixel2/path9/28255150484121.csv", dataDir + "Pixel2/path9/28404719230167.csv", }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 55, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 { NUC2, {2, { 46, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 2 { NUC3, {3, { 27, 44, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 3 { NUC4, {4, { 15, 40, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 4 }, { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }, true }; // 10 Path: SHL Path 2; NUCs steht in den Räumen; Neue gen7 NUCs mit interner Antenne const DataSetup Path10 = { "path10", mapDir + "shl_nuc_2.xml", { dataDir + "Pixel2/path10/1470971060974.csv", dataDir + "Pixel2/path10/1578633767584.csv", dataDir + "Pixel3/path10/3600316210200.csv", dataDir + "Pixel3/path10/3715912582913.csv", }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 7, 6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 I.2.14 { NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5 I.2.37 { NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6 I.2.03 { NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7 I.2.28 { NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8 I.2.10 }, { 100, 101, 102, 103, 104, 103, 102, 101, 100 }, true }; // 11 Path: SHL Path 2; NUCs steht in den Räumen; Neue gen7 NUCs mit interner Antenne const DataSetup Path11 = { "path11", mapDir + "shl_nuc_2.xml", { //dataDir + "Pixel2/path11/1688129692555.csv", //dataDir + "Pixel2/path11/1841800940572.csv", //dataDir + "Pixel3/path11/3833358280134.csv", //dataDir + "Pixel3/path11/3997838116311.csv", dataDir + "Pixel3/path11/5137884187509.csv", //dataDir + "Pixel3/path11/6613042236545.csv", NUC 6 im Gang //dataDir + "Pixel3/path11/11657691328657.csv", // NUC 6 im 3OG }, { // NUC, ID Pos X Y Z offset loss kalman stddev //{ NUC1, {1, { 7, 6, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 1 I.2.14 //{ NUC5, {5, { 54, 46, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 5 I.2.37 //{ NUC6, {6, { 46, 37, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 6 I.2.03 //{ NUC7, {7, { 27, 45, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 7 I.2.28 //{ NUC8, {8, { 16, 36, 0.8}, 0.00, 2.500, 3.0f} }, // NUC 8 I.2.10 /*NUC1 x = "67" y = "33" NUC2 x = "27" y = "49.600002" NUC3 x = "15" y = "32.400002" NUC4 x = "14.6" y = "4.4000001" NUC5 x = "52.200001" y = "49.5" NUC6 x = "39" y = "33" NUC7 x = "5" y = "49.799999" NUC8 x = "2" y = "21.5"*/ { NUC1, {1, { 67 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1 { NUC2, {2, { 27 , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2 { NUC3, {3, { 15 , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3 { NUC4, {4, { 14.6, 4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4 { NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5 { NUC6, {6, { 38 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 im Juschi Lab //{ NUC6, {6, { 38.1, 40 , 0.8}, 0.00, 3.000, 3.0f} }, // NUC 6 aufn Gang //{ NUC6, {6, { 38 , 33 , 3.4+0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 3OG { NUC7, {7, { 5 , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7 { NUC8, {8, { 2 , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8 }, { 100, 101, 102, 103, 104, 105, 104, 103, 102, 101, 100 }, true }; // 20 Path: SHL Path I; NUCs steht in den Räumen; Neue gen7 NUCs mit interner Antenne const DataSetup Path20 = { "path20", mapDir + "shl_nuc_3.xml", { dataDir + "Pixel2/path20/17706322854245.csv", dataDir + "Pixel2/path20/17818434531611.csv", dataDir + "Pixel2/path20/18373053262232.csv", dataDir + "Pixel2/path20/18507853186546.csv", dataDir + "Pixel3/path20/16666156600490.csv", dataDir + "Pixel3/path20/16779582215695.csv", dataDir + "Pixel3/path20/16926680479359.csv", dataDir + "Pixel3/path20/17037535703892.csv", }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 67 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1 { NUC2, {2, { 27 , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2 { NUC3, {3, { 15 , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3 { NUC4, {4, { 14.6, 4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4 { NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5 { NUC6, {6, { 38 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 { NUC7, {7, { 5 , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7 { NUC8, {8, { 2 , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8 }, { 100, 101, 102, 103, 104, 103, 102, 101, 100 }, true }; // 21 Path: SHL Path großes L; NUCs steht in den Räumen; Neue gen7 NUCs mit interner Antenne const DataSetup Path21 = { "path21", mapDir + "shl_nuc_3.xml", { dataDir + "Pixel2/path21/17368267427912.csv", dataDir + "Pixel2/path21/17527721931557.csv", dataDir + "Pixel2/path21/18001426901565.csv", dataDir + "Pixel2/path21/18177010770775.csv", // dataDir + "Pixel3/path21/15786943753685.csv", // bug dataDir + "Pixel3/path21/16075928276171.csv", dataDir + "Pixel3/path21/16268193326887.csv", // dataDir + "Pixel3/path21/16424251083631.csv", // bug }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 67 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1 { NUC2, {2, { 27 , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2 { NUC3, {3, { 15 , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3 { NUC4, {4, { 14.6, 4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4 { NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5 { NUC6, {6, { 38 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 { NUC7, {7, { 5 , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7 { NUC8, {8, { 2 , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8 }, { 100, 101, 102, 103, 104, 105, 104, 103, 102, 101, 100 }, true }; // 22 Path: SHL Komplexer Pfad von Balzer zu Deinzer zu Pool Raum und Gang; NUCs steht in den Räumen; Neue gen7 NUCs mit interner Antenne const DataSetup Path22 = { "path21", mapDir + "shl_nuc_3.xml", { dataDir + "Pixel2/path22/20823227234371.csv", dataDir + "Pixel2/path22/21041583616592.csv", dataDir + "Pixel2/path22/21254258832883.csv", dataDir + "Pixel2/path22/21408875875733.csv", dataDir + "Pixel3/path22/23431410568618.csv", dataDir + "Pixel3/path22/20083784919629.csv", dataDir + "Pixel3/path22/20307809441061.csv", dataDir + "Pixel3/path22/23631432228949.csv", }, { // NUC, ID Pos X Y Z offset loss kalman stddev { NUC1, {1, { 67 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 1 { NUC2, {2, { 27 , 49.6, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 2 { NUC3, {3, { 15 , 32.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 3 { NUC4, {4, { 14.6, 4.4, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 4 { NUC5, {5, { 52.2, 49.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 5 { NUC6, {6, { 38 , 33 , 0.8}, -2.00, 3.000, 3.0f} }, // NUC 6 { NUC7, {7, { 5 , 49.8, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 7 { NUC8, {8, { 2 , 21.5, 0.8}, -2.00, 3.000, 3.0f} }, // NUC 8 }, { 200, 201, 203, 104, 204, 205, 206, 207, 206, 208, 209, 210, 211, 212 }, true }; } data; static DataSetup CurrentPath = data.Path21; }