added presentation, related code, and forgotten tex changes
This commit is contained in:
@@ -31,6 +31,8 @@ public:
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vis.addFloor(floors.f2, floors.h2);
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vis.addFloor(floors.f3, floors.h3);
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}
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GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {
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@@ -38,6 +38,7 @@ protected:
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Grid<MyGridNode> grid;
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Helper::FHWSFloors floors;
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Vis vis;
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K::ParticleFilter<MyState, MyControl, MyObservation>* pf;
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@@ -94,7 +95,7 @@ public:
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return GridPoint(p.x, p.y, p.z);
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}
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GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
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static GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
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// construct the ground-truth-path by using all contained waypoint ids
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std::vector<Point3> path;
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@@ -18,6 +18,7 @@
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#include "eval/PaperVisDijkstra.h"
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#include "eval/PaperVisGrid.h"
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#include "presentation/presentation.h"
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float BarometerEvaluation::barometerSigma = NAN;
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@@ -85,9 +86,12 @@ void testModelWalk() {
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int main(void) {
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Presentation p;
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p.xxx();
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// testModelWalk();
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Eval1 eval;
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//Eval1 eval;
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// //eval.path2_forward_simple();
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// //eval.path2_forward_path();
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// //eval.path3_forward_simple();
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@@ -113,10 +117,10 @@ int main(void) {
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// {Eval1 eval; eval.bergwerk_path3_nexus_multi(); eval.run();}
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// {Eval1 eval; eval.bergwerk_path3_nexus_shortest(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
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//{Eval1 eval; eval.bergwerk_path4_nexus_simple(); eval.run();}
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//{Eval1 eval; eval.bergwerk_path4_nexus_imp(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
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{Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}
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//{Eval1 eval; eval.bergwerk_path4_nexus_multi(); eval.run();}
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//{Eval1 eval; eval.bergwerk_path4_nexus_shortest(); eval.run();}
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488
code/presentation/presentation.h
Normal file
488
code/presentation/presentation.h
Normal file
@@ -0,0 +1,488 @@
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#ifndef PRESENTATION_H
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#define PRESENTATION_H
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#include "../eval/EvalBase.h"
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#include "../DijkstraMapper.h"
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
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#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
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#include <Indoor/grid/walk/GridWalkPushForward.h>
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#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
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#include <Indoor/grid/walk/GridWalkSimpleControl.h>
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#include <Indoor/grid/walk/GridWalkPathControl.h>
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#include <Indoor/grid/walk/GridWalkShortestPathControl.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
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#include <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotMultiplot.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
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class Presentation {
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struct PlotErr {
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K::GnuplotPlot plot;
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K::GnuplotPlotElementLines lErr1;
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K::GnuplotPlotElementLines lErr2;
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PlotErr() {
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plot.add(&lErr1);
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plot.add(&lErr2);
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lErr1.setLineWidth(2); lErr1.setColorHex("#000000");
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lErr2.setLineWidth(2); lErr2.setColorHex("#666666");
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plot.addCustom("set xrange[0:160]");
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plot.addCustom("set yrange[0:12]");
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}
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void add(float ts, float err1, float err2) {
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ts /= 1000;
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lErr1.add(K::GnuplotPoint2(ts, err1));
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lErr2.add(K::GnuplotPoint2(ts, err2));
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}
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};
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struct PlotEST {
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K::Gnuplot gp;
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K::GnuplotSplot plot;
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K::GnuplotSplotElementLines walls;
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K::GnuplotSplotElementLines path1;
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K::GnuplotSplotElementLines path2;
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K::GnuplotSplotElementLines groundtruth;
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K::GnuplotSplotElementPoints particles;
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std::stringstream misc;
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PlotEST(Helper::FHWSFloors& floors, GroundTruthWay& gtw) {
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plot.addCustom("unset border");
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plot.addCustom("unset tics");
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plot.addCustom("unset cbrange");
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plot.add(&walls);
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plot.add(&particles);
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plot.add(&groundtruth);
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plot.add(&path1);
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plot.add(&path2);
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walls.setColorHex("#666666");
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//groundtruth.setCustomAttr("dashtype 3");
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groundtruth.setLineWidth(2);
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groundtruth.setColorHex("#009900");
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particles.setPointType(7);
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particles.setPointSize(0.25f);
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particles.setColorHex("#3333ff");
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path1.setLineWidth(3); path1.setColorHex("#000000");
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path2.setLineWidth(3); path2.setColorHex("#666666");
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addFloor(floors.f0, floors.h0.cm());
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addFloor(floors.f1, floors.h1.cm());
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addFloor(floors.f2, floors.h2.cm());
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addFloor(floors.f3, floors.h3.cm());
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addGT(gtw);
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}
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void addFloor(const Floor& f, const float height) {
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for (const Line2& l : f.getObstacles()) {
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const K::GnuplotPoint3 p1(l.p1.x, l.p1.y, height);
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const K::GnuplotPoint3 p2(l.p2.x, l.p2.y, height);
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walls.addSegment(p1, p2);
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}
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}
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void addEst1(const std::vector<Point3>& way) {
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path1.clear();
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for (Point3 p : way) {
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K::GnuplotPoint3 gp(p.x, p.y, p.z);
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path1.add(gp);
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}
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}
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void addEst2(const std::vector<Point3>& way) {
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path2.clear();
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for (Point3 p : way) {
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K::GnuplotPoint3 gp(p.x, p.y, p.z);
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path2.add(gp);
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}
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}
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void addGT(GroundTruthWay& gtw) {
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for (auto it : gtw.getWay()) {
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K::GnuplotPoint3 gp(it.value.x, it.value.y, it.value.z);
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groundtruth.add(gp);
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}
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}
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void setCur(Point3 est, Point3 gt) {
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misc.str("");
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misc << "set arrow 1 from " << est.x << "," << est.y << "," << est.z+150 << " to " << est.x << "," << est.y << "," << est.z << " lw 3\n";
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misc << "set arrow 2 from " << gt.x << "," << gt.y << "," << gt.z+150 << " to " << gt.x << "," << gt.y << "," << gt.z << "\n";
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}
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template <typename T> void addParticles(const T& lst) {
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particles.clear();
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for (int i = 0; i < (int) lst.size(); i+=15) {
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const K::Particle<MyState>& p = lst[i];
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const K::GnuplotPoint3 pp(p.state.pCur.x, p.state.pCur.y, p.state.pCur.z);
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particles.add(pp);
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}
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}
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};
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template <typename T> struct LeShortestPath {
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Grid<T>& grid;
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DijkstraMapper acc;
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Dijkstra<T> dijkstra;
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Point3 dst;
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LeShortestPath(Grid<T>& grid, Point3 dst) : grid(grid), acc(grid), dst(dst) {
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const T& nEnd = grid.getNearestNode( GridPoint(dst.x, dst.y, dst.z) );
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dijkstra.build(&nEnd, acc);
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}
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void addShortestPath(Point3 start, PlotEST& plot) {
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const T& nStart = grid.getNearestNode( GridPoint(start.x, start.y, start.z) );
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const T& nEnd = grid.getNearestNode( GridPoint(dst.x, dst.y, dst.z) );
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DijkstraNode<T>* dnStart = dijkstra.getNode(nStart);
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DijkstraNode<T>* dnEnd = dijkstra.getNode(nEnd);
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plot.path1.setColorHex("#0000ee");
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plot.path1.clear();
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DijkstraPath<T> dp(dnStart, dnEnd);
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for (DijkstraNode<T>* dn : dp) {
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K::GnuplotPoint3 gp(dn->element->x_cm, dn->element->y_cm, dn->element->z_cm);
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plot.path1.add(gp);
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}
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}
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};
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public:
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void xxx() {
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float stepSize = 0.71;
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K::ParticleFilter<MyState, MyControl, MyObservation>* pf1;
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K::ParticleFilter<MyState, MyControl, MyObservation>* pf2;
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Grid<MyGridNode> grid(20);
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Helper::FHWSFloors floors = Helper::getFloors(grid);
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Helper::buildTheGrid(grid, floors);
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pf1 = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
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pf2 = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
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std::unique_ptr<MyEvaluation> eval1 = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
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eval1.get()->setUsage(true, true, true, true, true);
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pf1->setEvaluation( std::move(eval1) );
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pf1->setNEffThreshold(1.0);
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pf1->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
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pf1->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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std::unique_ptr<MyEvaluation> eval2 = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
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eval2.get()->setUsage(true, true, true, true, true);
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pf2->setEvaluation( std::move(eval2) );
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pf2->setNEffThreshold(1.0);
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pf2->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
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pf2->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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//runName = "bergwerk_path4_nexus_shortest";
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GroundTruthWay gtw;
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SensorReader* sr;
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SensorReaderTurn* srt;
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SensorReaderStep* srs;
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std::vector<int> path4dbl = {29, 29, 28, 27, 32, 33, 34, 35, 36, 10, 9, 8, 22, 37, 38, 39, 40, 41, 42, 43, 44}; // duplicate 1st waypoint!
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BarometerEvaluation::barometerSigma = 0.10;
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sr = new SensorReader("./measurements/bergwerk/path4/nexus/vor/1454776525797.csv"); // forward
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srt = new SensorReaderTurn("./measurements/bergwerk/path4/nexus/vor/Turns.txt");
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srs = new SensorReaderStep("./measurements/bergwerk/path4/nexus/vor/Steps2.txt");
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gtw = EvalBase::getGroundTruthWay(*sr, floors.gtwp, path4dbl);
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MyGridNode& end = (MyGridNode&)grid.getNodeFor( EvalBase::conv(floors.gtwp[path4dbl.back()]) );
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{
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GridWalkPathControl<MyGridNode>* walk = new GridWalkPathControl<MyGridNode>(grid, DijkstraMapper(grid), end);
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//DebugShortestPath<MyGridNode>* walk = new DebugShortestPath<MyGridNode>(grid, DijkstraMapper(grid), end, this->floors);
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pf1->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
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}
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{
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GridWalkSimpleControl<MyGridNode>* walk = new GridWalkSimpleControl<MyGridNode>();
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pf2->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
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}
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PlotEST pEst(floors, gtw);
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PlotEST pShortest(floors, gtw);
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PlotErr pErr;
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LeShortestPath<MyGridNode> pShortestFac(grid, gtw.back().value);
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K::Gnuplot gp;
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K::GnuplotMultiplot multiplot(2,1);
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multiplot.add(&pErr.plot);
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multiplot.add(&pEst.plot);
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//multiplot.add(&pShortest.plot);
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// sensor numberspShortest
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const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
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//const int s_linearAcceleration = 2;
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std::list<TurnObservation> turn_observations;
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std::list<StepObservation> step_observations;
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//Create an BarometerSensorReader
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BarometerSensorReader baroSensorReader;
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//Read all turn Observations
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while(srt->hasNext()) {
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SensorEntryTurn set = srt->getNext();
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TurnObservation to;
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to.ts = set.ts;
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to.delta_heading = set.delta_heading;
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to.delta_motion = set.delta_motion;
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turn_observations.push_back(to);
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}
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//Step Observations
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while(srs->hasNext()) {
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SensorEntryStep ses = srs->getNext();
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StepObservation so;
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so.ts = ses.ts;
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step_observations.push_back(so);
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}
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// the to-be-evaluated observation
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MyObservation obs;
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obs.step = new StepObservation(); obs.step->steps = 0;
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obs.turn = new TurnObservation(); obs.turn->delta_heading = 0; obs.turn->delta_motion = 0;
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// control data
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MyControl ctrl;
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std::vector<Point3> pathEst1;
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std::vector<Point3> pathEst2;
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uint64_t lastTransitionTS = 0;
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int64_t start_time = -1;
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//K::Statistics<float> statsTime;
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//K::Statistics<double> stats;
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//int cnt = 0;
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//std::vector<float> errors;
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// process each single sensor reading
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while(sr->hasNext()) {
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// get the next sensor reading from the CSV
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const SensorEntry se = sr->getNext();
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//start_time needed for time calculation of steps and turns
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obs.latestSensorDataTS = se.ts;
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if (start_time == -1) {start_time = se.ts;}
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int64_t current_time = se.ts - start_time;
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switch(se.idx) {
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case s_wifi: {
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obs.wifi = WiFiSensorReader::readWifi(se);
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break;
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}
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case s_beacons: {
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BeaconObservationEntry boe = BeaconSensorReader::getBeacon(se);
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if (!boe.mac.empty()) {
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obs.beacons.entries.push_back(boe);
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} // add the observed beacon
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obs.beacons.removeOld(obs.latestSensorDataTS);
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break;
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}
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case s_barometer: {
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obs.barometer = baroSensorReader.readBarometer(se);
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break;
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}
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case s_orientation: {
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obs.orientation = OrientationSensorReader::read(se);
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break;
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}
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}
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// process all occurred turns
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while (!step_observations.empty() && current_time > step_observations.front().ts) {
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const StepObservation _so = step_observations.front(); step_observations.pop_front(); (void) _so;
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obs.step->steps++;
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ctrl.walked_m = obs.step->steps * stepSize;
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}
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// process all occurred steps
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while (!turn_observations.empty() && current_time > turn_observations.front().ts) {
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const TurnObservation _to = turn_observations.front(); turn_observations.pop_front();
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obs.turn->delta_heading += _to.delta_heading;
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obs.turn->delta_motion += _to.delta_motion;
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ctrl.headingChange_rad = Angle::degToRad(obs.turn->delta_heading);
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}
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// time for a transition?
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if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
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//auto tick1 = Time::tick();
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lastTransitionTS = se.ts;
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// timed updates
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((MyTransition*)pf1->getTransition())->setCurrentTime(lastTransitionTS);
|
||||
((MyTransition*)pf2->getTransition())->setCurrentTime(lastTransitionTS);
|
||||
|
||||
|
||||
// update the particle filter (transition + eval), estimate a new current position and add it to the estimated path
|
||||
const MyState est1 = pf1->update(&ctrl, obs);
|
||||
const MyState est2 = pf2->update(&ctrl, obs);
|
||||
|
||||
const Point3 curEst1 = est1.pCur;
|
||||
const Point3 curEst2 = est2.pCur;
|
||||
|
||||
// error calculation. compare ground-truth to estimation
|
||||
const int offset = 0;
|
||||
const Point3 curGT = gtw.getPosAtTime(se.ts - offset);
|
||||
|
||||
const Point3 diff1 = curEst1 - curGT;
|
||||
const Point3 diff2 = curEst2 - curGT;
|
||||
|
||||
const float err1 = diff1.length();
|
||||
const float err2 = diff2.length();
|
||||
|
||||
//auto tick2 = Time::tick();
|
||||
//float diffTime = Time::diffMS(tick1, tick2) * 1.25f;
|
||||
//statsTime.add(diffTime);
|
||||
//std::cout << "#" << statsTime.getAvg() << "\t" << diffTime << std::endl;
|
||||
|
||||
// skip the first 10 scans due to uniform distribution start
|
||||
|
||||
pathEst1.push_back(curEst1);
|
||||
pathEst2.push_back(curEst2);
|
||||
//const float err = diff.length();
|
||||
//errors.push_back(err);
|
||||
|
||||
// plot
|
||||
pEst.setCur(curEst1, curGT);
|
||||
pEst.addParticles(pf1->getParticles());
|
||||
pEst.addEst1(pathEst1);
|
||||
pEst.addEst2(pathEst2);
|
||||
pShortestFac.addShortestPath(curEst1, pShortest);
|
||||
pErr.add(se.ts-start_time, err1/100, err2/100);
|
||||
|
||||
|
||||
static int pi = 0;
|
||||
static int dspCnt = 0;
|
||||
if (++dspCnt > 0) {
|
||||
|
||||
//pEst.gp.draw(pEst.plot);
|
||||
//pEst.gp.flush();
|
||||
|
||||
//pShortest.gp.draw(pShortest.plot);
|
||||
//pShortest.gp.flush();
|
||||
|
||||
float s = 0.75;
|
||||
gp.setTerminal("pngcairo", K::GnuplotSize(50*s,29*s));
|
||||
gp.setOutput("/tmp/1/" + std::to_string(pi++) + ".png");
|
||||
gp << "set multiplot\n";
|
||||
|
||||
|
||||
gp << "set border\n";
|
||||
gp << "set tics\n";
|
||||
gp << "set size 1.0, 0.25 \n";
|
||||
gp << "set origin 0.0, 0.0 \n";
|
||||
gp << "unset xtics\n";
|
||||
gp.draw(pErr.plot);
|
||||
|
||||
gp << "unset xrange; unset yrange; unset zrange;\n";
|
||||
|
||||
gp << "set size 0.68, 1.04 \n";
|
||||
|
||||
gp << "set origin -0.08, 0.04 \n";
|
||||
gp << pEst.misc.str();
|
||||
gp.draw(pEst.plot);
|
||||
gp << "unset arrow\n";
|
||||
|
||||
gp << "set origin 0.405, 0.04 \n";
|
||||
gp << pShortest.misc.str();
|
||||
gp.draw(pShortest.plot);
|
||||
gp << "unset arrow\n";
|
||||
|
||||
gp << "unset multiplot\n";
|
||||
|
||||
gp.flush();
|
||||
|
||||
usleep(1000*33); // prevent gnuplot errors
|
||||
dspCnt = 0;
|
||||
|
||||
std::cout << pi << std::endl;
|
||||
|
||||
/** GIF */
|
||||
/*
|
||||
#!/bin/sh
|
||||
palette="/tmp/palette.png"
|
||||
filters=""
|
||||
ffmpeg -i %d.png -vf "$filters,palettegen" -y $palette
|
||||
ffmpeg -i %d.png -i $palette -lavfi "setpts=3.0*PTS,paletteuse" yy.gif
|
||||
|
||||
OR
|
||||
ffmpeg -f image2 -i %d.png -vf "setpts=3.0*PTS" nyan.flv
|
||||
*/
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
};
|
||||
|
||||
#endif // PRESENTATION_H
|
||||
Reference in New Issue
Block a user