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This commit is contained in:
toni
2019-08-07 17:59:38 +02:00
commit 89a1542dae
8 changed files with 2013 additions and 0 deletions
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108
CMakeLists.txt Normal file
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# Usage:
# Create build folder, like RC-build next to RobotControl and WifiScan folder
# CD into build folder and execute 'cmake -DCMAKE_BUILD_TYPE=Debug ../RobotControl'
# make
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
# select build type
SET( CMAKE_BUILD_TYPE "${CMAKE_BUILD_TYPE}" )
PROJECT(IMMPF_Localization)
IF(NOT CMAKE_BUILD_TYPE)
MESSAGE(STATUS "No build type selected. Default to Debug")
SET(CMAKE_BUILD_TYPE "Debug")
ENDIF()
INCLUDE_DIRECTORIES(
../
)
FILE(GLOB HEADERS
./notes.txt
./*.h
./*/*.h
./*/*/*.h
./*/*/*/*.h
./*/*/*/*/*.h
./*/*/*/*/*/*.h
)
FILE(GLOB SOURCES
./*.cpp
./*/*.cpp
./*/*/*.cpp
./*/*/*/*.cpp
../Indoor/lib/tinyxml/tinyxml2.cpp
../Indoor/lib/Recast/*.cpp
)
if ("${CMAKE_GENERATOR}" MATCHES "Visual Studio*")
add_definitions(
-D_USE_MATH_DEFINES
-DUNICODE
-D_UNICODE
-DNOGDI
)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /permissive-")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Zc:__cplusplus")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /std:c++17")
else()
# system specific compiler flags
ADD_DEFINITIONS(
#-std=gnu++14
-Wall
-Werror=return-type
-Wextra
-Wpedantic
-fstack-protector-all
-g3
#-O2
-march=native
)
endif()
add_definitions(
# -DWITH_TESTS
-DWITH_ASSERTIONS
# -DWITH_DEBUG_LOG
# -DWITH_DEBUG_PLOT
# -D_GLIBCXX_DEBUG
)
# allow OMP
find_package(OpenMP)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
# build a binary file
ADD_EXECUTABLE(
${PROJECT_NAME}
${HEADERS}
${SOURCES}
)
# needed external libraries
TARGET_LINK_LIBRARIES(
${PROJECT_NAME}
stdc++fs
# gtest
# pthread
)
SET(CMAKE_C_COMPILER ${CMAKE_CXX_COMPILER})

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Plotty.h Normal file
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#ifndef PLOTTY_H
#define PLOTTY_H
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanHelper.h>
#include <Indoor/geo/BBoxes3.h>
#include <Indoor/navMesh/NavMesh.h>
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPM3D.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementEmpty.h>
#include <KLib/misc/gnuplot/GnuplotPlot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementHistogram.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjects.h>
struct Color {
uint8_t r;
uint8_t g;
uint8_t b;
Color() : r(0), g(0), b(0) {
;
}
static Color fromRGB(const uint8_t r, const uint8_t g, const uint8_t b) {
Color c; c.setRGB(r,g,b);
return c;
}
static Color fromHSV(const uint8_t h, const uint8_t s, const uint8_t v) {
Color c; c.setHSV(h,s,v);
return c;
}
void setRGB(const uint8_t r, const uint8_t g, const uint8_t b) {
this->r = r;
this->g = g;
this->b = b;
}
void setHSV(const uint8_t h, const uint8_t s, const uint8_t v) {
uint8_t region, remainder, p, q, t;
region = h / 43;
remainder = (h - (region * 43)) * 6;
p = (v * (255 - s)) >> 8;
q = (v * (255 - ((s * remainder) >> 8))) >> 8;
t = (v * (255 - ((s * (255 - remainder)) >> 8))) >> 8;
switch (region) {
case 0:
r = v; g = t; b = p;
break;
case 1:
r = q; g = v; b = p;
break;
case 2:
r = p; g = v; b = t;
break;
case 3:
r = p; g = q; b = v;
break;
case 4:
r = t; g = p; b = v;
break;
default:
r = v; g = p; b = q;
break;
}
}
std::string toHEX() const {
char buf[8];
sprintf(buf, "#%02x%02x%02x", r, g, b);
std::string color(buf);
return color;
}
};
class Plotty {
public:
const Floorplan::IndoorMap* map;
K::Gnuplot gp;
K::GnuplotSplot splot;
K::GnuplotSplotElementPoints points;
K::GnuplotSplotElementColorPoints cpoints;
K::GnuplotSplotElementLines pathReal;
K::GnuplotSplotElementLines pathEst;
K::GnuplotSplotElementLines shortestPath;
K::GnuplotSplotElementColorPoints particles;
K::GnuplotSplotElementLines mapOutlineGlass;
K::GnuplotSplotElementLines mapOutlineDrywall;
K::GnuplotSplotElementLines mapOutlineConcrete;
K::GnuplotSplotElementLines mapBBoxes;
K::GnuplotSplotElementEmpty emptyElem;
K::GnuplotSplotElementPM3D pm3doutline;
std::string codeFile;
struct Settings {
std::vector<int> floors = {};
bool stairs = true;
bool obstacles = true;
bool outline = true;
bool outlineColorCustom = false;
bool skipI1 = false;
K::GnuplotColor outlineColor = K::GnuplotColor::fromRGB(128,128,128);
float minZ = -9999;
float maxZ = +9999;
} settings;
public:
Plotty(const Floorplan::IndoorMap* map) : map(map) {
//gp << "set view equal xy\n";
//gp << "set palette model RGB\n";
//gp << "r(x) = (x < 0) ? 0 : (x/2)\n";
//gp << "g(x) = 0\n";
//gp << "b(x) = (x > 0) ? 0 : (-x/2)\n";
//gp << "set palette model RGB functions r(gray),g(gray),b(gray)\n";
gp << "set ticslevel 0\n";
// how to draw the floorplan
mapOutlineConcrete.getStroke().getColor().setHexStr("#888888"); mapOutlineConcrete.getStroke().setWidth(2);
mapOutlineDrywall.getStroke().getColor().setHexStr("#888888");
mapOutlineGlass.getStroke().getColor().setHexStr("#888888"); mapOutlineGlass.getStroke().setType(K::GnuplotDashtype::DASHED);
mapBBoxes.getStroke().setWidth(2);
splot.add(&emptyElem);
splot.add(&mapOutlineConcrete);
splot.add(&mapOutlineDrywall);
splot.add(&mapOutlineGlass);
splot.add(&mapBBoxes);
splot.add(&particles); particles.setPointSize(0.20f); //particles.setColorHex("#777777");
splot.add(&pathReal); pathReal.getStroke().setWidth(2); pathReal.getStroke().getColor().setHexStr("#000000");
splot.add(&pathEst); pathEst.getStroke().setWidth(2); pathEst.getStroke().getColor().setHexStr("#0000ff");
splot.add(&shortestPath); shortestPath.getStroke().setWidth(3); shortestPath.getStroke().getColor().setHexStr("#ff00ff");
splot.add(&pm3doutline);
splot.add(&points);
points.setPointType(7);
points.setPointSize(0.5);
splot.add(&cpoints);
cpoints.setPointSize(2);
cpoints.setPointType(7);
splot.getView().setEnabled(false);
}
void addBBoxes(const BBoxes3& boxes, const K::GnuplotColor& c) {
for (BBox3 bb : boxes.get()) {
//&&addBBoxPoly(bb, c);
//bb.shrink(0.98);
addBBoxPoly2(bb, c);
}
}
void addBBoxPoly2(const BBox3& bb, const K::GnuplotColor& color) {
K::GnuplotFill filler = K::GnuplotFill(K::GnuplotFillStyle::SOLID, color);
K::GnuplotStroke stroke(K::GnuplotDashtype::NONE, 1, color);
K::GnuplotObjectPolygon* gpol1 = new K::GnuplotObjectPolygon(filler, stroke);
gpol1->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->close();
gpol1->setZIndex(bb.getMin().z - 0.1f);
splot.getObjects().add(gpol1);
K::GnuplotColor color2 = K::GnuplotColor::fromRGB(128,128,128);
K::GnuplotStroke stroke2(K::GnuplotDashtype::NONE, 1, color2);
K::GnuplotFill noFiller = K::GnuplotFill(K::GnuplotFillStyle::EMPTY_BORDER, color2);
K::GnuplotObjectPolygon* gpol2 = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol2->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->close();
gpol2->setZIndex(bb.getMin().z + 3.1f);
splot.getObjects().add(gpol2);
K::GnuplotObjectPolygon* gpol3a = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3a->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3a->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3a->setZIndex(bb.getMin().z + 1.1f);
splot.getObjects().add(gpol3a);
K::GnuplotObjectPolygon* gpol3b = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3b->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3b->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3b->setZIndex(bb.getMin().z + 1.1f);
splot.getObjects().add(gpol3b);
K::GnuplotObjectPolygon* gpol3c = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3c->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3c->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3c->setZIndex(bb.getMin().z + 1.1f);
splot.getObjects().add(gpol3c);
K::GnuplotObjectPolygon* gpol3d = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3d->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3d->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3d->setZIndex(bb.getMin().z + 1.1f);
splot.getObjects().add(gpol3d);
}
void addBBoxPoly(const BBox3& bb, K::GnuplotColor c) {
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon();
poly->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
poly->close();
poly->setStroke(K::GnuplotStroke::NONE());
poly->setFill(K::GnuplotFill(K::GnuplotFillStyle::SOLID, c));
splot.getObjects().add(poly);
}
void setGroundTruth(const Point3 pos_m) {
gp << "set arrow 998 from " << pos_m.x << "," << pos_m.y << "," << pos_m.z << " to " << pos_m.x << "," << pos_m.y << "," << pos_m.z+1 << " front \n";
}
void setCurEst(const Point3 pos_m) {
gp << "set arrow 999 from " << pos_m.x << "," << pos_m.y << "," << pos_m.z << " to " << pos_m.x << "," << pos_m.y << "," << pos_m.z+1 << " front \n";
}
void setPaletteRedBlue() {
float max = -9999;
float min = +9999;
for (const auto& e : cpoints.get()) {
if (e.color > max) {max = e.color;}
if (e.color < min) {min = e.color;}
}
setPaletteRedBlue(min, max);
}
void setPaletteRedBlue(const float blueVal, const float redVal) {
// we need to map the range from [blueVal:redVal] to [0:1]
const float min = blueVal;
const float max = redVal;
const float range = (max - min);
const float center01 = (0-min)/range;
// values above 0 dB = red
// values below 0 dB = blue
gp << "set palette model RGB\n";
gp << "cen01 = " << center01 << "\n";
gp << "r(x) = (x < cen01) ? 0 : ((x-cen01) / (1-cen01))\n";
gp << "g(x) = 0\n";
gp << "b(x) = (x > cen01) ? 0 : (1 - (x/cen01))\n";
gp << "set palette model RGB functions r(gray),g(gray),b(gray)\n";
}
void addLabel(const std::string& txt, const Point3 pos) {
//gp << "set label '" << txt << "' at " << pos.x << "," << pos.y << "," << pos.z << "\n";
splot.getCustom() << "set label '" << txt << "' at " << pos.x << "," << pos.y << "," << pos.z << " front\n";
}
void setActivity(const int act) {
std::string activity = "Unkown";
if(act == 0){
activity = "Walking";
} else if(act == 1) {
activity = "Standing";
} else if(act == 2) {
activity = "Up";
} else if(act == 3) {
activity = "Down";
}
gp << "set label 1002 at screen 0.02, 0.94 'Act: " << activity << "'\n";
}
void addRectangle(const Point3 p1, const Point3 p2, const Color c, bool front = false, bool fill = true) {
std::vector<Point3> points = {
Point3(p1.x, p1.y, p1.z),
Point3(p2.x, p1.y, p1.z),
Point3(p2.x, p2.y, p1.z),
Point3(p1.x, p2.y, p1.z),
Point3(p1.x, p1.y, p1.z),
};
addPolygon(points, c.toHEX(), front, fill);
}
void addRectangleW(const Point3 p1, const Point3 p2, const K::GnuplotColor c, const float w, bool front = false) {
std::vector<Point3> points = {
Point3(p1.x, p1.y, p1.z),
Point3(p2.x, p1.y, p1.z),
Point3(p2.x, p2.y, p1.z),
Point3(p1.x, p2.y, p1.z),
Point3(p1.x, p1.y, p1.z),
};
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon();
poly->getStroke().setWidth(w);
poly->getStroke().setColor(c);
poly->setFront(front);
for (const Point3 &p : points) {
poly->add(K::GnuplotCoordinate3(p.x, p.y, p.z, K::GnuplotCoordinateSystem::FIRST));
}
splot.getObjects().add(poly);
}
K::GnuplotObjectPolygon* addStartIndicator(const Point3 pt, const std::string& color, const float s = 2) {
// for (const Point3 p : points) {
// if (p.z < settings.minZ) {return nullptr;}
// if (p.z > settings.maxZ) {return nullptr;}
// }
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon();
poly->setFill(K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr(color)));
poly->setStroke(K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromRGB(0,0,0)));
//poly->setStroke(K::GnuplotStroke::NONE());
poly->add(K::GnuplotCoordinate3(pt.x-s, pt.y-s, pt.z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(pt.x+s, pt.y-s, pt.z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(pt.x+s, pt.y+s, pt.z, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(pt.x-s, pt.y+s, pt.z, K::GnuplotCoordinateSystem::FIRST));
poly->close();
poly->setFront(true);
splot.getObjects().add(poly);
return poly;
}
K::GnuplotObjectPolygon* addPolygon(const std::vector<Point3>& points, const std::string& color, bool front = false, bool fill = true, const float alpha = 1) {
for (const Point3 &p : points) {
if (p.z < settings.minZ) {return nullptr;}
if (p.z > settings.maxZ) {return nullptr;}
}
const K::GnuplotFill pfill = (fill) ? (K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr(color))) : (K::GnuplotFill::NONE());
const K::GnuplotStroke pstroke = (!fill) ? (K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1.0, K::GnuplotColor::fromHexStr(color))) : (K::GnuplotStroke::NONE());
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon(pfill, pstroke);
for (const Point3 &p : points) {
poly->add(K::GnuplotCoordinate3(p.x, p.y, p.z, K::GnuplotCoordinateSystem::FIRST));
poly->setZIndex(p.z); // manual depth ordering
poly->getFill().setAlpha(alpha);
}
poly->setFront(front);
splot.getObjects().add(poly);
// gp << "set object polygon from ";
// for (size_t i = 0; i < points.size(); ++i) {
// const Point3 p = points[i];
// if (i > 0) {gp << " to ";}
// gp << p.x << "," << p.y << "," << p.z << " ";
// }
// gp << (front ? "front" : "");
// if (fill) {gp << " fs solid ";} else {gp << " fs transparent ";}
// gp << " fc rgb " << "'" << color << "'";
// gp << "\n";
return poly;
}
void setZRange(const float min, const float max) {
gp << "set zrange [" << min << ":" << max << "]\n";
}
K::GnuplotObjectPolygon* addFloorRect(const Point3 pos_m, const float size, Color c, float ratio = 1.0) {
const Point3 p1 = pos_m + Point3(-size, -size/ratio, 0);
const Point3 p2 = pos_m + Point3(+size, -size/ratio, 0);
const Point3 p3 = pos_m + Point3(+size, +size/ratio, 0);
const Point3 p4 = pos_m + Point3(-size, +size/ratio, 0);
std::vector<Point3> points = {p1,p2,p3,p4,p1};
return addPolygon(points, c.toHEX(), false, true);
// gp << "set object polygon from ";
// for (size_t i = 0; i < points.size(); ++i) {
// const Point3 p = points[i];
// if (i > 0) {gp << " to ";}
// gp << p.x << "," << p.y << "," << p.z << " ";
// }
// gp << "front fs solid fc rgb " << "'" << c.toHEX() << "'";
// gp << "\n";
}
template <typename T> void showParticles(const std::vector<T>& particles) {
this->particles.clear();
float min = +999;
float max = -999;
for (const T& p : particles) {
const K::GnuplotPoint3 p3(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
const double prob = std::pow(p.weight, 0.25);
this->particles.add(p3, prob);
if (prob > max) {max = prob;}
if (prob < min) {min = prob;}
}
splot.getAxisCB().setRange(min, max + 0.000001f);
}
// estimated path
void addEstimationNode(const Point3 pos){
K::GnuplotPoint3 est(pos.x, pos.y, std::round(pos.z * 10) / 10);
pathEst.add(est);
}
void setTitle(const std::string& title) {
gp << "set title '" << title << "'\n";
}
void setGroundTruth(const std::vector<int> indices) {
const std::vector<Point3> path = FloorplanHelper::getGroundTruth(map, indices);
pathReal.clear();
for (const Point3& p : path) {
pathReal.add(K::GnuplotPoint3(p.x, p.y, p.z));
}
}
template <typename Tria> void setPathToDestination(std::vector<NM::NavMeshLocation<Tria>>& path) {
shortestPath.clear();
for (auto& e : path) {
K::GnuplotPoint3 gp(e.pos.x, e.pos.y, e.pos.z);
shortestPath.add(gp);
}
}
void equalXY() {
gp << "set view equal xy\n";
}
void setView(const float degX, const float degY) {
//gp << "set view " << degX << "," << degY << "\n";
splot.getView().setCamera(degX, degY);
}
void setScale(const float x, const float y, const float ox = 0, const float oy = 0) {
gp << "set multiplot layout 1,1 scale " << x << "," << y << " offset " << ox << "," << oy << "\n";
}
void writeCodeTo(const std::string& file) {
this->codeFile = file;
}
void noFrame() {
gp << "unset border\n";
// gp << "unset xtics\n";
// gp << "unset ytics\n";
// gp << "unset ztics\n";
splot.getAxisX().setTicsVisible(false);
splot.getAxisY().setTicsVisible(false);
splot.getAxisZ().setTicsVisible(false);
}
void writeEpsTex(const std::string file, K::GnuplotSize size = K::GnuplotSize(8.5f, 5.1f)) {
gp.setTerminal("epslatex", size);
gp.setOutput(file);
}
void plot() {
this->mapOutlineConcrete.getStroke().setColor(settings.outlineColor);
this->mapOutlineDrywall.getStroke().setColor(settings.outlineColor);
this->mapOutlineGlass.getStroke().setColor(settings.outlineColor);
gp.draw(splot);
gp << "unset multiplot\n"; // scaling
if (codeFile != "") {
std::ofstream out(codeFile);
out << gp.getBuffer();
out.close();
}
gp.flush();
}
void closeStream(){
gp.close();
}
void saveToFile(std::ofstream& stream){
gp.draw(splot);
stream << "set terminal x11 size 2000,1500\n";
stream << gp.getBuffer();
stream << "pause -1\n";
gp.flush();
}
void printOverview(const std::string& path) {
gp << "set terminal png size 2000,1500\n";
gp << "set output '" << path << "_overview" << ".png'\n";
gp << "set view 75,60\n";
gp << "set autoscale xy\n";
gp << "set autoscale z\n";
}
void buildFloorplan() {
std::vector<Floorplan::Floor*> floors;
BBox3 bbox = FloorplanHelper::getBBox(map);
// only some floors??
if (settings.floors.empty()) {
floors = map->floors;
} else {
for (int i : settings.floors) {
floors.push_back(map->floors[static_cast<unsigned long>(i)]);
}
}
// mapOutlineDrywall.addSegment(
// K::GnuplotPoint3(bbox.getMin().x, bbox.getMin().y, bbox.getMin().z),
// K::GnuplotPoint3(bbox.getMax().x, bbox.getMax().y, bbox.getMax().z)
// );
splot.getAxisX().setRange(K::GnuplotAxis::Range(bbox.getMin().x, bbox.getMax().x));
splot.getAxisY().setRange(K::GnuplotAxis::Range(bbox.getMin().y, bbox.getMax().y));
splot.getAxisZ().setRange(K::GnuplotAxis::Range(0, 11));
// process each selected floor
for (Floorplan::Floor* floor : floors) {
const float vo = floor->atHeight * 4.5f;
// plot the floor's outline
if (settings.outline) {
for (Floorplan::FloorOutlinePolygon* poly : floor->outline) {
if (floor->atHeight < settings.minZ) {continue;}
if (floor->atHeight > settings.maxZ) {continue;}
// for toni
if (settings.skipI1) {
if (floor->atHeight == 4.0f) {
//if (poly->poly.points[2].y < 0) {
if (poly->poly.points[0].x > 70 && poly->poly.points[0].y < 50) {
continue;
}
}
}
const float v = 180 + vo;
K::GnuplotColor color = K::GnuplotColor::fromRGB(static_cast<int>(v),static_cast<int>(v),static_cast<int>(v));
if (poly->outdoor) {color = K::GnuplotColor::fromRGB(180, 240, 180);}
if (poly->method == Floorplan::OutlineMethod::REMOVE) {color = K::GnuplotColor::fromRGB(245,245,245);}
K::GnuplotFill filler(K::GnuplotFillStyle::SOLID, color);
K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(filler, K::GnuplotStroke::NONE());
for (Point2 pt : poly->poly.points) {
K::GnuplotCoordinate3 coord(pt.x, pt.y, floor->atHeight, K::GnuplotCoordinateSystem::FIRST);
gpol->add(coord);
}
gpol->close();
gpol->setZIndex(floor->atHeight - 0.1f); // below the lines
//gpol->setFront(true);
splot.getObjects().add(gpol);
}
}
// plot obstacles?
if (settings.obstacles) {
for (Floorplan::FloorObstacle* obs : floor->obstacles) {
Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
if (line) {
if (floor->atHeight < settings.minZ) {continue;}
if (floor->atHeight > settings.maxZ) {continue;}
// const K::GnuplotPoint3 p1(line->from.x, line->from.y, floor->atHeight);
// const K::GnuplotPoint3 p2(line->to.x, line->to.y, floor->atHeight);
// switch(line->material) {
// case Floorplan::Material::CONCRETE: mapOutlineConcrete.addSegment(p1, p2); break;
// case Floorplan::Material::GLASS: mapOutlineGlass.addSegment(p1, p2); break;
// case Floorplan::Material::UNKNOWN:
// case Floorplan::Material::DRYWALL: mapOutlineDrywall.addSegment(p1, p2); break;
// }
// K::GnuplotObjectArrow* arrow = new K::GnuplotObjectArrow(
// K::GnuplotCoordinate3(line->from.x, line->from.y, floor->atHeight, K::GnuplotCoordinateSystem::FIRST),
// K::GnuplotCoordinate3(line->to.x, line->to.y, floor->atHeight, K::GnuplotCoordinateSystem::FIRST)
// );
// arrow->setHead(K::GnuplotObjectArrow::Head::NONE);
// splot.getObjects().add(arrow);
const float v = 140 + vo;
// drawing outlines as polygon is a hack for correct depth-order in gnuplot
K::GnuplotColor color = (settings.outlineColorCustom) ? (settings.outlineColor) : (K::GnuplotColor::fromRGB(static_cast<int>(v),static_cast<int>(v),static_cast<int>(v)));
K::GnuplotFill filler = K::GnuplotFill(K::GnuplotFillStyle::EMPTY_BORDER, color);
K::GnuplotStroke stroke(K::GnuplotDashtype::NONE, 6, color);
//K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(K::GnuplotFill::NONE(), stroke);
K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(filler, stroke);
//K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(K::GnuplotFill::NONE(), K::GnuplotStroke::NONE());
gpol->add(K::GnuplotCoordinate3(line->from.x, line->from.y, floor->atHeight, K::GnuplotCoordinateSystem::FIRST));
gpol->add(K::GnuplotCoordinate3(line->to.x, line->to.y, floor->atHeight, K::GnuplotCoordinateSystem::FIRST));
gpol->close();
gpol->setZIndex(floor->atHeight); // above the ground polygon
//gpol->setFront(true);
splot.getObjects().add(gpol);
}
}
}
// plot the stairs as polygon
if (settings.stairs) {
for (Floorplan::Stair* s : floor->stairs) {
std::vector<Floorplan::Quad3> quads = Floorplan::getQuads(s->getParts(), floor);
for (const Floorplan::Quad3& q : quads) {
// K::GnuplotObjectPolygon* poly = addPolygon({q.p1, q.p2, q.p3, q.p4, q.p1}, "#c0c0c0");
// if (poly) {
// poly->setZIndex(floor->atHeight+1.5); // above the floor
// }
const float v1 = 180 + q.p1.z * 4.5f;
const float v2 = 140 + q.p1.z * 4.5f;
const float z = (q.p1.z + q.p2.z + q.p3.z + q.p4.z) / 4.0f;
if (z < settings.minZ) {continue;}
if (z > settings.maxZ) {continue;}
K::GnuplotColor color = K::GnuplotColor::fromRGB(static_cast<int>(v1),static_cast<int>(v1),static_cast<int>(v1));
K::GnuplotColor color2 = K::GnuplotColor::fromRGB(static_cast<int>(v2),static_cast<int>(v2),static_cast<int>(v2));
K::GnuplotFill filler(K::GnuplotFillStyle::SOLID, color);
K::GnuplotStroke stroke(K::GnuplotDashtype::SOLID, 1, color2);
K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(filler, stroke);
gpol->add(K::GnuplotCoordinate3(q.p1.x, q.p1.y, q.p1.z, K::GnuplotCoordinateSystem::FIRST));
gpol->add(K::GnuplotCoordinate3(q.p2.x, q.p2.y, q.p2.z, K::GnuplotCoordinateSystem::FIRST));
gpol->add(K::GnuplotCoordinate3(q.p3.x, q.p3.y, q.p3.z, K::GnuplotCoordinateSystem::FIRST));
gpol->add(K::GnuplotCoordinate3(q.p4.x, q.p4.y, q.p4.z, K::GnuplotCoordinateSystem::FIRST));
gpol->close();
gpol->setZIndex(z); // above the ground
splot.getObjects().add(gpol);
}
}
}
}
}
};
#endif // PLOTTY_H

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#ifndef SETTINGS_H
#define SETTINGS_H
#include <Indoor/grid/GridPoint.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/VAPGrouper.h>
namespace Settings {
const int numParticles = 2000;
const int numBSParticles = 50;
namespace IMU {
const float turnSigma = 2.5f; // 3.5
const float stepLength = 1.00f;
const float stepSigma = 0.15f; //toni changed
}
const float smartphoneAboveGround = 1.3f;
const float offlineSensorSpeedup = 2.0f;
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 = 0.2f;
}
namespace KDE3D {
const Point3 bandwidth(1.5, 1.5, 0.2f);
const Point3 gridSize(0.2f, 0.2f, 0.2f); // 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 = 2.0;
/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
constexpr float TXP = -45;
constexpr float EXP = 2.3f;
constexpr float WAF = -11.0;
const bool optimize = true;
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 = "/mnt/Daten/Dokumente/programme/localization/maps/museum/";
const std::string dataDir = "/mnt/Daten/Dokumente/programme/localization/measurements/rothenburg/2018/";
const std::string errorDir = dataDir + "results/";
/** describes one dataset (map, training, parameter-estimation, ...) */
struct DataSetup {
std::string map;
std::vector<std::string> training;
std::string fingerprints;
std::string wifiModel;
int numGTPoints;
};
/** all configured datasets */
static struct Data {
DataSetup Path0 = {
mapDir + "map42_ap_path0.xml",
{
dataDir + "nexus/Path0_4113.csv",
dataDir + "nexus/Path0_6563.csv",
dataDir + "pixel/Path0_1498.csv",
dataDir + "pixel/Path0_2529.csv",
//dataDir + "pixel/Path0_7380.csv",
//dataDir + "samsung/Path0_4208.csv",
//dataDir + "samsung/Path0_6812.csv",
},
dataDir + "nexus/fingerprints/wifi_fp.dat",
dataDir + "wifimodel.dat",
15
};
DataSetup Path1 = {
mapDir + "map42_ap_path1_hofzu.xml",
{
dataDir + "nexus/Path1_1548.csv",
dataDir + "nexus/Path1_9477.csv",
dataDir + "pixel/Path1_2468.csv",
dataDir + "pixel/Path1_5497.csv",
dataDir + "pixel/Path1_8787.csv",
dataDir + "samsung/Path1_5745.csv",
dataDir + "samsung/Path1_9130.csv"
},
dataDir + "nexus/fingerprints/wifi_fp.dat",
dataDir + "wifimodel.dat",
32
};
DataSetup Path2 = {
mapDir + "map42_ap_path2.xml",
{
dataDir + "nexus/Path2_0374.csv",
dataDir + "nexus/Path2_4718.csv",
dataDir + "nexus/Path2_8766.csv",
dataDir + "pixel/Path2_4336.csv",
//dataDir + "museum/Pixel/Path2_4341.csv",
dataDir + "pixel/Path2_9038.csv",
dataDir + "samsung/Path2_3326.csv",
dataDir + "samsung/Path2_5814.csv"
},
dataDir + "nexus/fingerprints/wifi_fp.dat",
dataDir + "wifimodel.dat",
44
};
DataSetup Path3 = {
mapDir + "map42_ap_path3.xml",
{
//dataDir + "nexus/Path3_4519.csv",
//dataDir + "nexus/Path3_5929.csv",
dataDir + "pixel/Path3_6307.csv",
//dataDir + "pixel/Path3_5451.csv", //geht nur bis gt-punkt 31
//dataDir + "pixel/Path3_9243.csv",
//dataDir + "samsung/Path3_7610.csv",
//dataDir + "samsung/Path3_7819.csv"
},
dataDir + "nexus/fingerprints/wifi_fp.dat",
dataDir + "wifimodel_new.dat",
46
};
} data;
}
#endif // SETTINGS_H

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//#include "main.h"
#include "Settings.h"
#include "Plotty.h"
// navMesh
#include "navMesh/mesh.h"
#include "navMesh/filter.h"
#include "navMesh/meshPlotter.h"
#include <memory>
#include <thread>
#include <experimental/filesystem>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/sensors/radio/model/WiFiModelLogDistCeiling.h>
#include <Indoor/sensors/offline/FileReader.h>
#include <Indoor/geo/Heading.h>
#include <Indoor/geo/Point2.h>
#include <Indoor/sensors/imu/TurnDetection.h>
#include <Indoor/sensors/imu/StepDetection.h>
#include <Indoor/sensors/imu/MotionDetection.h>
#include <Indoor/sensors/imu/PoseDetection.h>
#include <Indoor/sensors/pressure/RelativePressure.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/model/WiFiModels.h>
#include <Indoor/sensors/radio/setup/WiFiOptimizer.h>
#include <Indoor/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h>
#include <Indoor/sensors/radio/setup/WiFiOptimizerPerFloor.h>
#include <Indoor/math/stats/Statistics.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimpleImpoverishment.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKDE.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKDEPercent.h>
#include <sys/stat.h>
Stats::Statistics<float> run(Settings::DataSetup setup, unsigned long numFile, std::string folder) {
// reading file
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
Offline::FileReader fr(setup.training[numFile]);
WiFiFingerprints fingerprints(setup.fingerprints);
std::ifstream inp(setup.wifiModel, std::ifstream::binary);
// ground truth
std::vector<int> gtPath;
for(int i = 0; i < setup.numGTPoints; ++i){gtPath.push_back(i);}
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
Stats::Statistics<float> errorStats;
//calculate distance of path
std::vector<Interpolator<uint64_t, Point3>::InterpolatorEntry> gtEntries = gtInterpolator.getEntries();
float distance = 0;
for(unsigned long i = 1; i < gtEntries.size(); ++i){
distance += gtEntries[i].value.getDistance(gtEntries[i-1].value);
}
std::cout << "Distance of Path: " << distance << std::endl;
// error file
const long int t = static_cast<long int>(time(nullptr));
auto evalDir = std::experimental::filesystem::path(Settings::errorDir);
evalDir.append(folder);
if (!std::experimental::filesystem::exists(evalDir)) {
std::experimental::filesystem::create_directory(evalDir);
}
std::ofstream errorFile;
errorFile.open (evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
std::ofstream activityFile;
activityFile.open (evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t) + "_activity.csv");
// wifi
// WiFiModelLogDistCeiling WiFiModel(map);
// WiFiModelPerFloor WiFiModelPerFloor(map);
// WiFiModelPerBBox WiFiModelPerBBox(map);
WiFiModel* wifiModel = nullptr;
// with optimization
if(Settings::WiFiModel::optimize){
if (!inp.good() || (inp.peek()) || inp.eof()) {
Assert::isFalse(fingerprints.getFingerprints().empty(), "no fingerprints available!");
if (Settings::WiFiModel::useRegionalOpt) {
// use a regional optimization scheme (one per floor)
WiFiOptimizer::PerFloor opt(map, Settings::WiFiModel::vg_calib, WiFiOptimizer::Mode::QUALITY);
WiFiOptimizer::LogDistCeiling ldc(map, Settings::WiFiModel::vg_calib, WiFiOptimizer::Mode::QUALITY);
// add all fingerprints to the optimizer (optimizer will add them to the correct floor/model)
for (const WiFiFingerprint& fp : fingerprints.getFingerprints()) {
opt.addFingerprint(fp);
}
wifiModel = dynamic_cast<WiFiModel*>(opt.optimizeAll(ldc.MIN_2_FPS));
wifiModel->saveXML(setup.wifiModel);
} else {
/** NOTE: Funktioniert fürs Museum VIEL VIEL Besser */
// use one model per AP for the whole map
wifiModel = dynamic_cast<WiFiModel*>(new WiFiModelLogDistCeiling(map));
WiFiOptimizer::LogDistCeiling opt(map, Settings::WiFiModel::vg_calib);
for (const WiFiFingerprint& fp : fingerprints.getFingerprints()) {
opt.addFingerprint(fp);
}
const WiFiOptimizer::LogDistCeiling::APParamsList res = opt.optimizeAll(opt.NONE);
for (const WiFiOptimizer::LogDistCeiling::APParamsMAC& ap : res.get()) {
const WiFiModelLogDistCeiling::APEntry entry(ap.params.getPos(), ap.params.txp, ap.params.exp, ap.params.waf);
(dynamic_cast<WiFiModelLogDistCeiling*>(wifiModel))->addAP(ap.mac, entry);
}
wifiModel->saveXML(setup.wifiModel);
}
} else {
// load WiFiModel from file. The factory will create the correct instance
//WiFiModel->loadXML(setup.wifiModel);
WiFiModelFactory fac(map);
wifiModel = fac.loadXML(setup.wifiModel);
}
} else {
// without optimization
wifiModel = dynamic_cast<WiFiModel*>(new WiFiModelLogDistCeiling(map));
(dynamic_cast<WiFiModelLogDistCeiling*>(wifiModel))->loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
Assert::isFalse(wifiModel->getAllAPs().empty(), "no AccessPoints stored within the map.xml");
}
// mesh
NM::NavMeshSettings set;
MyNavMesh mesh;
MyNavMeshFactory fac(&mesh, set);
fac.build(map);
//add destination
NM::NavMeshDijkstra::stamp(mesh, gtEntries.back().value);
const Point3 srcPath0(26, 43, 7.5f);
const Point3 srcPath1(62, 38, 1.7f);
const Point3 srcPath2(62, 38, 1.8f);
const Point3 srcPath3(62, 38, 1.8f);
// add shortest-path to destination
//const Point3 dst(51, 45, 1.7);
//const Point3 dst(25, 45, 0);
//NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);
// debug show
//MeshPlotter dbg;
//dbg.addFloors(map);
//dbg.addOutline(map);
//dbg.addMesh(mesh);
//dbg.addDijkstra(mesh);
//dbg.draw();
Plotty plot(map);
plot.buildFloorplan();
plot.setGroundTruth(gtPath);
// particle-filter
const int numParticles = Settings::numParticles;
//auto init = std::make_unique<MyPFInitFixed>(&mesh, srcPath0); // known position
auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
auto eval = std::make_unique<MyPFEval>(*wifiModel);
auto trans = std::make_unique<MyPFTrans>(mesh, *wifiModel);
auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
//auto resample = std::make_unique<SMC::ParticleFilterResamplingKDE<MyState, MyNavMeshTriangle>>(&mesh, Settings::KDE3D::gridSize, Settings::KDE3D::bandwidth);
//auto resample = std::make_unique<SMC::ParticleFilterResamplingKDEPercent<MyState, MyNavMeshTriangle>>(&mesh, Settings::KDE3D::gridSize, Settings::KDE3D::bandwidth, 0.75);
//auto resample = std::make_unique<SMC::ParticleFilterResamplingSimpleImpoverishment<MyState, MyNavMeshTriangle>>();
//auto resample = std::make_unique<SMC::ParticleFilterResamplingKLD<MyState>>();
//auto estimate = std::make_unique<SMC::ParticleFilterEstimationBoxKDE<MyState>>(map, 0.2, Point2(1,1));
auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
//auto estimate = std::make_unique<SMC::ParticleFilterEstimationMax<MyState>>();
// setup
MyFilter pf(numParticles, std::move(init));
pf.setEvaluation(std::move(eval));
pf.setTransition(std::move(trans));
pf.setResampling(std::move(resample));
pf.setEstimation(std::move(estimate));
pf.setNEffThreshold(0.5);
// sensors
MyControl ctrl;
MyObservation obs;
StepDetection sd;
PoseDetection pd;
TurnDetection td(dynamic_cast<PoseProvider*>(&pd));
RelativePressure relBaro;
ActivityDetector act;
relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
Timestamp lastTimestamp = Timestamp::fromMS(0);
int gtActivity = 0;
// parse each sensor-value within the offline data
for (const Offline::Entry& e : fr.getEntries()) {
const Timestamp ts = Timestamp::fromMS(static_cast<long>(e.ts));
if (e.type == Offline::Sensor::WIFI) {
obs.wifi = fr.getWiFiGroupedByTime()[static_cast<unsigned long>(e.idx)].data;
ctrl.wifi = fr.getWiFiGroupedByTime()[static_cast<unsigned long>(e.idx)].data;
} else if (e.type == Offline::Sensor::ACC) {
if (sd.add(ts, fr.getAccelerometer()[static_cast<unsigned long>(e.idx)].data)) {
++ctrl.numStepsSinceLastEval;
}
const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[static_cast<unsigned long>(e.idx)];
pd.addAccelerometer(ts, _acc.data);
//simpleActivity walking / standing
act.add(ts, fr.getAccelerometer()[static_cast<unsigned long>(e.idx)].data);
} else if (e.type == Offline::Sensor::GYRO) {
const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[static_cast<unsigned long>(e.idx)];
const float delta_gyro = td.addGyroscope(ts, _gyr.data);
ctrl.headingChangeSinceLastEval += delta_gyro;
} else if (e.type == Offline::Sensor::BARO) {
relBaro.add(ts, fr.getBarometer()[static_cast<unsigned long>(e.idx)].data);
obs.relativePressure = relBaro.getPressureRealtiveToStart();
obs.sigmaPressure = relBaro.getSigma();
//simpleActivity stairs up / down
act.add(ts, fr.getBarometer()[static_cast<unsigned long>(e.idx)].data);
activityFile << ts.ms() << " " << gtActivity << " " << static_cast<int>(act.get()) << "\n";
} else if (e.type == Offline::Sensor::ACTIVITY) {
//get the activity recorded by the user by pressing a button
gtActivity = fr.getActivity()[static_cast<unsigned long>(e.idx)].data;
}
if (ctrl.numStepsSinceLastEval > 0) {
obs.currentTime = ts;
ctrl.currentTime = ts;
// if(ctrl.numStepsSinceLastEval > 0){
// pf.updateTransitionOnly(&ctrl);
// }
MyState est = pf.update(&ctrl, obs); //pf.updateEvaluationOnly(obs);
ctrl.afterEval();
Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms())) + Point3(0,0,0.1f);
lastTimestamp = ts;
ctrl.lastEstimate = est.pos.pos;
//plot
//dbg.showParticles(pf.getParticles());
//dbg.setCurPos(est.pos.pos);
//dbg.setGT(gtPos);
//dbg.addEstimationNode(est.pos.pos);
//dbg.addGroundTruthNode(gtPos);
//dbg.setTimeInMinute(static_cast<int>(ts.sec()) / 60, static_cast<int>(static_cast<int>(ts.sec())%60));
//dbg.draw();
//get shortest path to destination and plot
est.pos = mesh.getLocationNearestTo(est.pos.pos);
std::vector<NM::NavMeshLocation<MyNavMeshTriangle>> path = est.pos.tria->getPathToDestination<MyNavMeshTriangle>(est.pos.pos);
plot.setPathToDestination(path);
plot.showParticles(pf.getParticles());
plot.setCurEst(est.pos.pos);
plot.setGroundTruth(gtPos);
plot.addEstimationNode(est.pos.pos);
plot.setActivity(static_cast<int>(act.get()));
plot.plot();
//error calc with penalty for wrong floor
float errorFactor = 3.0f;
Point3 gtPosError = Point3(gtPos.x, gtPos.y, errorFactor * gtPos.z);
Point3 estError = Point3(est.pos.pos.x, est.pos.pos.y, errorFactor * est.pos.pos.z);
float err_m = gtPosError.getDistance(estError);
errorStats.add(err_m);
errorFile << ts.ms() << " " << err_m << "\n";
//stuff for drawing
// plot.gp << "set terminal png size 1280,720\n";
// plot.gp.setOutput("/tmp/videoSparkasse/" + std::to_string(i++) + ".png");
// int degree = ((30 - i) % 360);
// if (degree < 0){degree += 360;}
// plot.gp << "set view 63,"<< degree << "\n";
// plot.gp << "set autoscale xy\n";
// plot.gp << "set autoscale z\n";
// plot.plot();
}
}
// get someting on console
std::cout << "Statistical Analysis Filtering: " << std::endl;
std::cout << "Median: " << errorStats.getMedian() << " Average: " << errorStats.getAvg() << " Std: " << errorStats.getStdDev() << std::endl;
// save the statistical data in file
errorFile << "========================================================== \n";
errorFile << "Average of all statistical data: \n";
errorFile << "Median: " << errorStats.getMedian() << "\n";
errorFile << "Average: " << errorStats.getAvg() << "\n";
errorFile << "Standard Deviation: " << errorStats.getStdDev() << "\n";
errorFile << "75 Quantil: " << errorStats.getQuantile(0.75) << "\n";
errorFile.close();
//activityFile << "===================================================== \n";
//activityFile << "Falsche Zustandswechsel: " << numFalseActivityChange;
activityFile.close();
/* plot in gp file */
std::ofstream plotFile;
plotFile.open(evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t) + ".gp");
plot.saveToFile(plotFile);
plotFile.close();
//save also a png image, just for a better overview
plot.printOverview(evalDir.string() + "/" + std::to_string(numFile) + "_" + std::to_string(t));
plot.plot();
plot.closeStream();
return errorStats;
}
int main() {
Stats::Statistics<float> statsAVG;
Stats::Statistics<float> statsMedian;
Stats::Statistics<float> statsSTD;
Stats::Statistics<float> statsQuantil;
Stats::Statistics<float> tmp;
std::string evaluationName = "Test_ParticleFilter_Standard";
for(int i = 0; i < 1; ++i){
for(unsigned long j = 0; j < Settings::data.Path0.training.size(); ++j){
tmp = run(Settings::data.Path0, j, evaluationName);
statsMedian.add(tmp.getMedian());
statsAVG.add(tmp.getAvg());
statsSTD.add(tmp.getStdDev());
statsQuantil.add(tmp.getQuantile(0.75));
}
// for(int j = 0; j < Settings::data.Path1.training.size(); ++j){
// tmp = run(Settings::data.Path1, j, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
// }
// for(int j = 0; j < Settings::data.Path2.training.size(); ++j){
// tmp = run(Settings::data.Path2, j, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
// }
// for(int j = 0; j < Settings::data.Path3.training.size(); ++j){
// tmp = run(Settings::data.Path3, j, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
// }
// for(int j = 0; j < 1; ++j){
// tmp = run(Settings::data.Stairs, j, evaluationName);
// statsMedian.add(tmp.getMedian());
// statsAVG.add(tmp.getAvg());
// statsSTD.add(tmp.getStdDev());
// statsQuantil.add(tmp.getQuantile(0.75));
// }
std::cout << "Iteration " << i << " completed" << std::endl;
}
std::cout << "==========================================================" << std::endl;
std::cout << "Average of all statistical data: " << std::endl;
std::cout << "Median: " << statsMedian.getAvg() << std::endl;
std::cout << "Average: " << statsAVG.getAvg() << std::endl;
std::cout << "Standard Deviation: " << statsSTD.getAvg() << std::endl;
std::cout << "75 Quantil: " << statsQuantil.getAvg() << std::endl;
std::cout << "==========================================================" << std::endl;
//EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS EDIT THIS
std::ofstream finalStatisticFile;
finalStatisticFile.open (Settings::errorDir + evaluationName + ".csv", std::ios_base::app);
finalStatisticFile << "========================================================== \n";
finalStatisticFile << "Average of all statistical data: \n";
finalStatisticFile << "Median: " << statsMedian.getAvg() << "\n";
finalStatisticFile << "Average: " << statsAVG.getAvg() << "\n";
finalStatisticFile << "Standard Deviation: " << statsSTD.getAvg() << "\n";
finalStatisticFile << "75 Quantil: " << statsQuantil.getAvg() << "\n";
finalStatisticFile << "========================================================== \n";
finalStatisticFile.close();
//std::this_thread::sleep_for(std::chrono::seconds(60));
}

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#ifndef NAV_MESH_MAIN_H
#define NAV_MESH_MAIN_H
#endif

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#ifndef NAV_MESH_FILTER_H
#define NAV_MESH_FILTER_H
#include "mesh.h"
#include "../Settings.h"
#include <omp.h>
#include <Indoor/geo/Heading.h>
#include <Indoor/math/Distributions.h>
#include <Indoor/smc/Particle.h>
#include <Indoor/smc/filtering/ParticleFilter.h>
#include <Indoor/smc/filtering/ParticleFilterInitializer.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingSimple.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKLD.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationBoxKDE.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationBoxKDE3D.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <Indoor/smc/filtering/estimation/ParticleFilterEstimationMax.h>
#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
#include <Indoor/navMesh/walk/NavMeshWalkEval.h>
#include <Indoor/navMesh/walk/NavMeshWalkWifi.h>
#include <Indoor/navMesh/walk/NavMeshWalkWifiRegional.h>
#include <Indoor/navMesh/walk/NavMeshWalkUnblockable.h>
#include <Indoor/navMesh/walk/NavMeshWalkKLD.h>
#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
#include <Indoor/navMesh/NavMeshRandom.h>
#include <Indoor/sensors/radio/WiFiMeasurements.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/WiFiProbabilityFree.h>
#include <Indoor/sensors/activity/ActivityDetector.h>
#include <Indoor/math/divergence/KullbackLeibler.h>
#include <Indoor/sensors/radio/WiFiQualityAnalyzer.h>
struct MyState {
/** the state's position (within the mesh) */
MyNavMeshLocation pos;
/** the state's heading */
Heading heading;
MyState() : pos(), heading(0) {}
MyState(Point3 p) : pos(p, nullptr), heading(0){}
MyState& operator += (const MyState& o) {
pos.tria = nullptr; // impossible
pos.pos += o.pos.pos;
return *this;
}
MyState& operator /= (const float val) {
pos.tria = nullptr; // impossible
pos.pos /= val;
return *this;
}
MyState operator * (const float val) const {
MyState res;
res.pos.pos = pos.pos * val;
return res;
}
float getX(){
return pos.pos.x;
}
float getY() {
return pos.pos.y;
}
float getZ() {
return pos.pos.z;
}
float getBinValue(const int dim) const {
switch (dim) {
case 0: return this->pos.pos.x;
case 1: return this->pos.pos.y;
case 2: return this->pos.pos.z;
case 3: return this->heading.getRAD();
}
throw "cant find this value within the bin";
}
};
struct MyControl {
int numStepsSinceLastEval = 0;
float headingChangeSinceLastEval = 0;
void afterEval() {
numStepsSinceLastEval = 0;
headingChangeSinceLastEval = 0;
}
//wifi
WiFiMeasurements wifi;
//time
Timestamp currentTime;
//last estimation
Point3 lastEstimate = Point3(26, 43, 7.5);
};
struct MyObservation {
// pressure
float sigmaPressure = 0.10f;
float relativePressure = 0;
//wifi
WiFiMeasurements wifi;
//time
Timestamp currentTime;
//activity
Activity activity;
};
class MyPFInitUniform : public SMC::ParticleFilterInitializer<MyState> {
const MyNavMesh* mesh;
public:
MyPFInitUniform(const MyNavMesh* mesh) : mesh(mesh) {
}
virtual ~MyPFInitUniform(){}
virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {
/** random position and heading within the mesh */
Distribution::Uniform<double> dHead(0, 2*M_PI);
MyNavMeshRandom rnd = mesh->getRandom();
for (SMC::Particle<MyState>& p : particles) {
p.state.pos = rnd.draw();
p.state.heading = static_cast<float>(dHead.draw());
p.weight = 1.0 / particles.size();
}
}
};
class MyPFInitFixed : public SMC::ParticleFilterInitializer<MyState> {
const MyNavMesh* mesh;
const Point3 pos;
public:
MyPFInitFixed(const MyNavMesh* mesh, const Point3 pos) : mesh(mesh), pos(pos) {
}
virtual ~MyPFInitFixed(){}
virtual void initialize(std::vector<SMC::Particle<MyState>>& particles) override {
/** random position and heading within the mesh */
Distribution::Uniform<double> dHead(0, 2*M_PI);
for (SMC::Particle<MyState>& p : particles) {
p.state.pos = mesh->getLocation(pos);
p.state.heading = static_cast<float>(dHead.draw());
p.weight = 1.0 / particles.size();
}
}
};
class MyPFTrans : public SMC::ParticleFilterTransition<MyState, MyControl> {
//using MyNavMeshWalk = NM::NavMeshWalkSimple<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkWifiRegional<MyNavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkUnblockable<MyNavMeshTriangle>;
using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<MyNavMeshTriangle>;
MyNavMeshWalk walker;
WiFiQualityAnalyzer analyzer;
WiFiObserverFree wifiProbability;
SMC::ParticleFilterEstimationBoxKDE<MyState> estimator;
public:
//std::vector<double> listRadiusSub;
MyPFTrans(MyNavMesh& mesh, WiFiModel& wifiModel) :
walker(mesh),
wifiProbability(Settings::WiFiModel::sigma, wifiModel){
// how to evaluate drawn points
walker.addEvaluator(new NM::WalkEvalHeadingStartEndNormal<MyNavMeshTriangle>(0.04));
walker.addEvaluator(new NM::WalkEvalDistance<MyNavMeshTriangle>(0.1));
//walker.addEvaluator(new NM::WalkEvalApproachesTarget<MyNavMeshTriangle>(0.9)); // 90% for particles moving towards the target
}
void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {
// walking and heading random
Distribution::Normal<float> dStepSizeFloor(0.70f, 0.1f);
Distribution::Normal<float> dStepSizeStair(0.35f, 0.1f);
Distribution::Normal<float> dHeading(0.0, 0.1f);
// #pragma omp parallel for num_threads(3)
for (unsigned long i = 0; i < particles.size(); ++i) {
SMC::Particle<MyState>& p = particles[i];
// how to walk
MyNavMeshWalkParams params;
params.heading = p.state.heading + control->headingChangeSinceLastEval + dHeading.draw();
params.numSteps = control->numStepsSinceLastEval;
params.start = p.state.pos;
params.stepSizes.stepSizeFloor_m = dStepSizeFloor.draw();
params.stepSizes.stepSizeStair_m = dStepSizeStair.draw();
if(params.stepSizes.stepSizeFloor_m < 0.1f || params.stepSizes.stepSizeStair_m < 0.1f){
params.stepSizes.stepSizeFloor_m = 0.1f;
params.stepSizes.stepSizeStair_m = 0.1f;
}
// walk
MyNavMeshWalk::ResultEntry res = walker.getOne(params);
// assign back to particle's state
p.weight *= res.probability;
p.state.pos = res.location;
p.state.heading = res.heading;
}
// reset the control (0 steps, 0 delta-heading)
//control->afterEval();
}
};
class MyPFEval : public SMC::ParticleFilterEvaluation<MyState, MyObservation> {
WiFiModel& wifiModel;
WiFiObserverFree wifiProbability;
//TODO: add this to transition probability
float getStairProb(const SMC::Particle<MyState>& p, const Activity act) {
const float kappa = 0.85f;
switch (act) {
case Activity::WALKING:
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::FLOOR_INDOOR)) {return kappa;}
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::DOOR)) {return kappa;}
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::STAIR_LEVELED)) {return kappa;}
{return 1-kappa;}
case Activity::WALKING_UP:
case Activity::WALKING_DOWN:
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::STAIR_SKEWED)) {return kappa;}
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::STAIR_LEVELED)) {return kappa;}
if (p.state.pos.tria->getType() == static_cast<int>(NM::NavMeshType::ELEVATOR)) {return kappa;}
{return 1-kappa;}
}
return 1.0;
}
public:
//MyPFEval(WiFiModel& wifiModel) : wifiModel(wifiModel), wifiProbability(Settings::WiFiModel::sigma, wifiModel){}
//MyPFEval(WiFiModel& wifiModel) : wifiModel(wifiModel), wifiProbability(Settings::WiFiModel::sigma, wifiModel, WiFiObserverFree::EvalDist::EXPONENTIAL){}
MyPFEval(WiFiModel& wifiModel) : wifiModel(wifiModel), wifiProbability(Settings::WiFiModel::sigma, wifiModel, WiFiObserverFree::EvalDist::CAPPED_NORMAL_DISTRIBUTION){}
virtual double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& observation) override {
double sum = 0;
const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(observation.wifi);
//#pragma omp parallel for num_threads(3)
for (size_t i = 0; i < particles.size(); ++i) {
SMC::Particle<MyState>& p = particles[i];
double pWifi = wifiProbability.getProbability(p.state.pos.pos, observation.currentTime, wifiObs);
double pBluetooth =
double pStair = static_cast<double>(getStairProb(p, observation.activity));
double prob = pWifi * pStair;
p.weight *= prob;
#pragma omp atomic
sum += prob;
}
return sum;
}
};
using MyFilter = SMC::ParticleFilter<MyState, MyControl, MyObservation>;
#endif

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#ifndef NAV_MESH_MESH_H
#define NAV_MESH_MESH_H
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/navMesh/NavMeshLocation.h>
#include <Indoor/navMesh/NavMeshRandom.h>
#include <Indoor/navMesh/NavMeshFactory.h>
#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
#include <Indoor/navMesh/meta/NavMeshDijkstra.h>
/** the triangle to use with the nav-mesh */
class MyNavMeshTriangle : public NM::NavMeshTriangle, public NM::NavMeshTriangleDijkstra {
// add own parameters here
public:
MyNavMeshTriangle(const Point3 p1, const Point3 p2, const Point3 p3, uint8_t type) : NM::NavMeshTriangle(p1, p2, p3, type) {
}
};
using MyNavMeshFactory = NM::NavMeshFactory<MyNavMeshTriangle>;
using MyNavMesh = NM::NavMesh<MyNavMeshTriangle>;
using MyNavMeshLocation = NM::NavMeshLocation<MyNavMeshTriangle>;
using MyNavMeshRandom = NM::NavMeshRandom<MyNavMeshTriangle>;
using MyNavMeshWalkParams = NM::NavMeshWalkParams<MyNavMeshTriangle>;
#endif

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#ifndef MESHPLOTTER_H
#define MESHPLOTTER_H
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementColorPoints.h>
#include <KLib/misc/gnuplot/objects/GnuplotObjectPolygon.h>
#include <Indoor/math/Distributions.h>
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/floorplan/v2/Floorplan.h>
class NavMeshTriangleDijkstra;
/**
* debug plot NavMeshes
*/
class MeshPlotter {
public:
K::Gnuplot gp;
K::GnuplotSplot plot;
K::GnuplotSplotElementLines pFloor;
K::GnuplotSplotElementLines pOutline;
K::GnuplotSplotElementLines lines;
K::GnuplotSplotElementPoints border;
K::GnuplotSplotElementColorPoints particles;
K::GnuplotSplotElementColorPoints distances;
K::GnuplotSplotElementLines pathEstimated;
K::GnuplotSplotElementLines shortestPath;
K::GnuplotSplotElementLines groundtruthPath;
private:
K::GnuplotFill gFill[6] = {
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#0000ff"), 1), // unknown
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#999999"), 1), // indoor
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#44ffee"), 1), // outdoor
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666699"), 1), // door
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#444444"), 1), // stairs_level
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromHexStr("#666666"), 1) // stairs_skewed
};
public:
MeshPlotter() {
gp << "set view equal xy\n";
plot.add(&lines); lines.setShowPoints(true);
plot.add(&border);
plot.add(&particles); particles.setPointType(7); particles.setPointSize(0.2);
plot.add(&pathEstimated); pathEstimated.getStroke().setWidth(2); pathEstimated.setShowPoints(false); pathEstimated.getStroke().getColor().setHexStr("#00ff00");
plot.add(&groundtruthPath); groundtruthPath.getStroke().setWidth(2); groundtruthPath.getStroke().getColor().setHexStr("#000000");
plot.add(&distances); distances.setPointSize(0.75); distances.setPointType(7);
plot.add(&shortestPath); shortestPath.getStroke().setWidth(3);
plot.add(&pFloor);
plot.add(&pOutline); pOutline.getStroke().getColor().setHexStr("#999999");
}
void draw() {
gp.draw(plot);
gp.flush();
}
template <typename T> void showParticles(const std::vector<T>& particles) {
this->particles.clear();
double min = +999;
double max = -999;
for (const T& p : particles) {
const K::GnuplotPoint3 p3(p.state.pos.pos.x, p.state.pos.pos.y, p.state.pos.pos.z);
const double prob = std::pow(p.weight, 0.25);
this->particles.add(p3, prob);
if (prob > max) {max = prob;}
if (prob < min) {min = prob;}
}
plot.getAxisCB().setRange(min, max + 0.000001);
}
template <typename Tria> void addMesh(NM::NavMesh<Tria>& nm) {
K::GnuplotStroke gStroke = K::GnuplotStroke(K::GnuplotDashtype::SOLID, 1, K::GnuplotColor::fromHexStr("#666600"));
const BBox3 bbox = nm.getBBox();
border.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z));
border.add(K::GnuplotPoint3(bbox.getMax().x,bbox.getMax().y,bbox.getMax().z));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(bbox.getMax().x, 0, 0));
// lines.add(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,bbox.getMax().y,0));
// lines.addSegment(K::GnuplotPoint3(bbox.getMin().x,bbox.getMin().y,bbox.getMin().z), K::GnuplotPoint3(0,0,bbox.getMax().z));
//stairs in eigene group? vlt gehen dann auch die dellen weg?
for (const Tria* tria : nm) {
const uint8_t type = tria->getType();
if (type < 0 || type > 5) {
throw std::runtime_error("out of type-bounds");
}
K::GnuplotObjectPolygon* pol = new K::GnuplotObjectPolygon(gFill[type], gStroke);
pol->add(K::GnuplotCoordinate3(tria->getP1().x, tria->getP1().y, tria->getP1().z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria->getP2().x, tria->getP2().y, tria->getP2().z, K::GnuplotCoordinateSystem::FIRST));
pol->add(K::GnuplotCoordinate3(tria->getP3().x, tria->getP3().y, tria->getP3().z, K::GnuplotCoordinateSystem::FIRST));
pol->close();
pol->setZIndex(tria->getP3().z);
plot.getObjects().add(pol);
//for (int i = 0; i < nm.getNumNeighbors(tria); ++i) {
// const Tria* o = nm.getNeighbor(tria, i);
// const Point3 p1 = tria->getCenter();
// const Point3 p2 = o.getCenter();
// //lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
//}
for (const NM::NavMeshTriangle* o : *tria) {
const Point3 p1 = tria->getCenter();
const Point3 p2 = o->getCenter();
// lines.addSegment(K::GnuplotPoint3(p1.x,p1.y,p1.z+0.1), K::GnuplotPoint3(p2.x,p2.y,p2.z+0.1));
}
}
plot.getObjects().reOrderByZIndex();
}
template <typename Tria> void addDijkstra(NM::NavMesh<Tria>& mesh) {
distances.clear();
// ensure Tria extends NavMeshTriangleDijkstra
StaticAssert::AinheritsB<Tria, NavMeshTriangleDijkstra>();
NM::NavMeshRandom<Tria> rnd = mesh.getRandom();
for (int i = 0; i < 5000; ++i) {
NM::NavMeshLocation<Tria> loc = rnd.draw();
float v = loc.tria->interpolate(loc.pos, loc.tria->spFromP1.distance, loc.tria->spFromP2.distance, loc.tria->spFromP3.distance);
distances.add(K::GnuplotPoint3(loc.pos.x, loc.pos.y, loc.pos.z), v);
}
// Distribution::Uniform<float> dist (-0.5, +0.5);
// for (const Tria* t : mesh) {
// const Point3 posC = t->getCenter();
// distances.add(K::GnuplotPoint3(posC.x+dist.draw(), posC.y+dist.draw(), posC.z), t->distAtCenter);
// const Point3 pos1 = t->getP1();
// distances.add(K::GnuplotPoint3(pos1.x+dist.draw(), pos1.y+dist.draw(), pos1.z), t->distAtP1);
// const Point3 pos2 = t->getP2();
// distances.add(K::GnuplotPoint3(pos2.x+dist.draw(), pos2.y+dist.draw(), pos2.z), t->distAtP2);
// const Point3 pos3 = t->getP3();
// distances.add(K::GnuplotPoint3(pos3.x+dist.draw(), pos3.y+dist.draw(), pos3.z), t->distAtP3);
// }
}
template <typename Tria> void addDijkstra(std::vector<NM::NavMeshLocation<Tria>>& path) {
shortestPath.clear();
for (auto& e : path) {
K::GnuplotPoint3 gp(e.pos.x, e.pos.y, e.pos.z);
shortestPath.add(gp);
}
}
void addGroundTruthNode(const Point3 pos) {
K::GnuplotPoint3 gp(pos.x, pos.y, std::round(pos.z * 10) / 10);
groundtruthPath.add(gp);
}
void addEstimationNode(const Point3 pos){
K::GnuplotPoint3 est(pos.x, pos.y, std::round(pos.z * 10) / 10);
pathEstimated.add(est);
}
void setTimeInMinute(const int minutes, const int seconds) {
gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << seconds << "'\n";
}
void setGT(const Point3 pt) {
gp << "set arrow 31337 from " << pt.x << "," << pt.y << "," << (pt.z+1.4) << " to " << pt.x << "," << pt.y << "," << pt.z << " front \n";
}
void setCurPos(const Point3 pt) {
gp << "set arrow 31338 from " << pt.x << "," << pt.y << "," << (pt.z+0.9) << " to " << pt.x << "," << pt.y << "," << pt.z << " lw 2 lc 'green' front \n";
}
void saveToFile(std::ofstream& stream){
gp.draw(plot);
stream << "set terminal x11 size 2000,1500\n";
stream << gp.getBuffer();
stream << "pause -1\n";
gp.flush();
}
void printOverview(const std::string& path) {
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_overview" << ".png'\n";
gp << "set view 75,60\n";
gp << "set autoscale xy\n";
gp << "set autoscale z\n";
draw();
}
//meshless drawing
void addFloors(Floorplan::IndoorMap* map) {
for (Floorplan::Floor* f : map->floors) {
for (Floorplan::FloorObstacle* obs : f->obstacles) {
Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
if (line) {
K::GnuplotPoint3 p1(line->from.x, line->from.y, f->atHeight);
K::GnuplotPoint3 p2(line->to.x, line->to.y, f->atHeight);
pFloor.addSegment(p1, p2);
}
}
}
}
void addOutline(Floorplan::IndoorMap* map) {
for (Floorplan::Floor* f : map->floors) {
for (Floorplan::FloorOutlinePolygon* poly : f->outline) {
const int cnt = poly->poly.points.size();
for (int i = 0; i < cnt; ++i) {
Point2 p1 = poly->poly.points[(i+0)];
Point2 p2 = poly->poly.points[(i+1)%cnt];
K::GnuplotPoint3 gp1(p1.x, p1.y, f->atHeight);
K::GnuplotPoint3 gp2(p2.x, p2.y, f->atHeight);
pOutline.addSegment(gp1, gp2);
}
}
}
}
};
#endif // MESHPLOTTER_H