FHWS/Fusion2016
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updates the visualisation

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removed obsolte parts
fixed baromter stuff
worked on eval
added ground-truth
This commit is contained in:
FrankE
2016-01-30 19:50:58 +01:00
parent b2ea3145f4
commit cc899d1c46
18 changed files with 388 additions and 190 deletions
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4
code/frank/BeaconEvaluation.h
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@@ -23,7 +23,7 @@ public:
double prob = 1.0;
// const double tx = -74;
const double waf = 20.0;
const double waf = 8.0;
// // get the ap the client had the strongest measurement for
// const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
@@ -40,7 +40,7 @@ public:
// distance (in meter) between particle and AP
//const double distToBeacon_m = state.getDistance2D(beacon->xCM, beacon->yCM) / 100.0;
const double distToBeacon_m = state.pCur.getDistance(Point3(beacon->x, beacon->y, beacon->z)) / 100.0;
const double distToBeacon_m = state.pCur.getDistance(*beacon) / 100.0;
// floor difference?
//const double floorDist = std::abs(beacon->zNr - state.getFloorNr());

2
code/frank/PositionedBeacon.h
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@@ -21,7 +21,7 @@ public:
/** ctor */
PositionedBeacon(const MACAddress& mac, const float tx, const float pl, const float x_cm, const float y_cm, const float z_cm) :
mac(mac), tx(tx), pl(pl), Point3(x_cm, y_cm, z_cm) {
Point3(x_cm, y_cm, z_cm), mac(mac), tx(tx), pl(pl) {
;
}

24
code/frank/Settings.h
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@@ -20,27 +20,27 @@ public:
Settings() {
const double pl = 2.7;
const double pl = 2.7; // 2.7
const double tx = -46;
addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-0.5);
addAP(("00:04:96:6b:64:99"), "i.3.20", 290, 1300, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:6b:70:c9"), "i.3.25", 290, 3930, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:6b:82:79"), "i.3.16", 1860, 3400, Helper::getHeight(3), tx, pl-1);
addAP(("00:04:96:77:ed:f9"), "i.3.39", 4700, 4850, Helper::getHeight(3), tx, pl);
addAP(("00:04:96:77:ed:69"), "i.3.3", 6460, 3400, Helper::getHeight(3), tx, pl);
// 2nd floor (vague AP position)
addAP(("00:04:96:6c:3a:a9"), "I.2.1", 6750, 3350, Helper::getHeight(2), tx, pl-0.5);
addAP(("00:04:96:6c:3a:a9"), "I.2.1", 6750, 3350, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:6b:bf:f9"), "I.2.9", 3000, 3350, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:77:ec:a9"), "I.2.15", 290, 750, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:6b:0c:c9"), "I.2.19", 300, 4000, Helper::getHeight(2), tx, pl-0.5);
addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, Helper::getHeight(2), tx, pl-0.5);
addAP(("00:04:96:6b:0c:c9"), "I.2.19", 300, 4000, Helper::getHeight(2), tx, pl);
addAP(("00:04:96:6b:db:69"), "I.2.34", 4320, 4780, Helper::getHeight(2), tx, pl);
// 1st floor (vague AP position)
addAP(("00:04:96:6c:cf:19"), "I.1.2", 6150, 3420, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:7d:07:79"), "I.1.9", 1800, 3300, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:69:48:c9"), "I.1.17", 1500, 300, Helper::getHeight(1), tx, pl-0.25);
addAP(("00:04:96:77:eb:99"), "I.1.21", 500, 1700, Helper::getHeight(1), tx, pl-0.25);
addAP(("00:04:96:69:48:c9"), "I.1.17", 1500, 300, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:77:eb:99"), "I.1.21", 500, 1700, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:6b:45:59"), "I.1.30", 800, 4800, Helper::getHeight(1), tx, pl);
addAP(("00:04:96:77:ed:89"), "I.1.43", 4600, 4800, Helper::getHeight(1), tx, pl);
@@ -63,9 +63,9 @@ public:
addBeacon("E5:6F:57:34:94:40", -77+ibOff, ibPLE, 7468, 5108, Helper::getHeight(2)); // idis outside
addBeacon("C6:FC:6E:25:F5:29", -77+ibOff, ibPLE, 6115, 4527, Helper::getHeight(2)); // idis toni
addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, Helper::getHeight(1)); // i.1.47
addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, Helper::getHeight(1)); // fachschaft
addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, Helper::getHeight(1)); // neben fachschaft
//addBeacon("78:A5:04:1E:B1:50", -88+ibOff-4, ibPLE, 6108, 4528, Helper::getHeight(1)); // i.1.47
//addBeacon("78:A5:04:1F:91:41", -88+ibOff-4, ibPLE, 6508, 4038, Helper::getHeight(1)); // fachschaft
//addBeacon("78:A5:04:1F:8E:35", -88+ibOff-4, ibPLE, 6313, 4038, Helper::getHeight(1)); // neben fachschaft
// addBeacon("00:07:80:78:F7:B3", -82, ibPLE, 1038, 4018, 3);
// addBeacon("78:A5:04:1F:93:02", -88, ibPLE, 1538, 4038, 3);

13
code/frank/WiFiEvaluation.h
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@@ -38,10 +38,9 @@ public:
//const double tx = -48; // tablet
//const double pl = 3.15;
const float waf = 7;//10.0; // was 7 before?! has something todo with the floor heights / levels
// const int floor_height_cm = 350;
// get the ap the client had the strongest measurement for
const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
//const PositionedWifiAP* relAP = settings.getAP(strongest.mac); assert(relAP);
//const double distToStrongest_m = state.getDistance2D(relAP->xCM, relAP->yCM) / 100.0;
//const double strongestFloorDist = std::abs(relAP->zNr - state.z_nr);
//const double mdlStrongestRSSI = distanceToRssi(relAP->tx, distToStrongest_m, relAP->pl) - (strongestFloorDist * waf);
@@ -53,13 +52,13 @@ public:
const PositionedWifiAP* ap = settings.getAP(entry.mac); assert(ap);
// distance (in meter) between particle and AP
//const double distToAP_m = state.getDistance3D(ap->xCM, ap->yCM, floor_height_cm) / 100.0;
const float distToAP_m = state.pCur.getDistance(Point3(ap->x, ap->y, ap->z)) / 100.0;
const float distToAP_m = state.pCur.getDistance(*ap) / 100.0;
// floor difference?
const float floorDiff = std::round(
std::abs(Helper::getFloorNr(ap->z) - Helper::getFloorNr(state.pCur.z))
);
const float floorDiff = //std::ceil(
std::abs(Helper::getFloorNrFloat(ap->z) - Helper::getFloorNrFloat(state.pCur.z));
//);
//const float floorDiff = std::abs(ap->z - state.pCur.z) / 340;
// estimate the rssi depending on above distance
const double mdlRSSI = distanceToRssi(ap->tx, distToAP_m, ap->pl) - (floorDiff * waf);