FHWS/IPIN2017
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added kld with parzen and nv distribution

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added new testfiles
fixed plot
fixed numerical errors
This commit is contained in:
toni
2017-03-23 19:50:33 +01:00
parent 48566b79fc
commit 212573cba2
5 changed files with 215 additions and 84 deletions
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172
code/main.cpp
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@@ -1,58 +1,19 @@
#include <iostream>
#include "filter/Structs.h"
#include "filter/KLB.h"
#include "Plotti.h"
#include <chrono>
#include "filter/Logic.h"
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/floorplan/v2/FloorplanReader.h>
#include <Indoor/grid/factory/v2/GridFactory.h>
#include <Indoor/grid/factory/v2/Importance.h>
#include <Indoor/geo/Point2.h>
#include <Indoor/sensors/offline/FileReader.h>
#include <KLib/math/statistics/Statistics.h>
#include <Indoor/sensors/imu/TurnDetection.h>
#include <Indoor/sensors/imu/StepDetection.h>
#include <Indoor/sensors/imu/MotionDetection.h>
#include <Indoor/sensors/pressure/RelativePressure.h>
#include <Indoor/sensors/radio/WiFiGridEstimator.h>
#include <Indoor/sensors/beacon/model/BeaconModelLogDistCeiling.h>
#include <Indoor/math/MovingAVG.h>
#include <Indoor/math/FixedFrequencyInterpolator.h>
#include <Indoor/data/Timestamp.h>
#include "Settings.h"
#include <KLib/math/filter/particles/ParticleFilter.h>
#include <KLib/math/filter/particles/ParticleFilterHistory.h>
#include <KLib/math/filter/particles/ParticleFilterInitializer.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationKernelDensity.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
#include <Indoor/geo/Heading.h>
//frank
//const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
//const std::string dataDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/src/data/";
//toni
const std::string mapDir = "/home/toni/Documents/programme/localization/russenJournal/russen/map/";
const std::string dataDir = "/home/toni/Documents/programme/localization/russenJournal/russen/data/";
const std::string mapDir = "/home/toni/Documents/programme/localization/IndoorMap/maps/";
const std::string dataDir = "/home/toni/Documents/programme/localization/IPIN2017/code/data/";
const std::string errorDir = dataDir + "results/";
/** describes one dataset (map, training, parameter-estimation, ...) */
@@ -97,7 +58,7 @@ struct Data {
dataDir + "ipin2015/galaxy/Path0/1433581471902.csv",
dataDir + "ipin2015/nexus/Path0/1433606195078.csv",
dataDir + "ipin2015/galaxy/Path1/1433587749492.csv",
dataDir + "ipin2015/nexus/Path1/1433606670723.csv",
dataDir + "ipin2015/nexus/Path1/1433606670723.csv", // wlan für 71 sekunden weg. verlaufen uns aufm klo.
dataDir + "ipin2015/galaxy/Path2/1433581471902.csv",
dataDir + "ipin2015/nexus/Path2/1433607251262.csv",
dataDir + "eiszeit/path2/1479986737368.csv"
@@ -109,6 +70,31 @@ struct Data {
mapDir + "SHL/grid_IPIN2015_gt.dat"
};
DataSetup IPIN2017 = {
mapDir + "SHL38.xml",
{
dataDir + "ipin2017/nogps/i-building/path1/1489769326868.csv",
dataDir + "ipin2017/nogps/i-building/path1/1489769510080.csv",
dataDir + "ipin2017/nogps/i-building/path2/1489774173022.csv",
dataDir + "ipin2017/nogps/i-building/path2/1489774361865.csv",
dataDir + "ipin2017/nogps/i-building/path3/1489776812891.csv",
dataDir + "ipin2017/nogps/i-building/path3/1489776979143.csv",
dataDir + "ipin2017/nogps/all/path1/1490031549543.csv",
dataDir + "ipin2017/nogps/all/path1/1490031883742.csv",
dataDir + "ipin2017/nogps/all/path2/1490032575999.csv",
dataDir + "ipin2017/nogps/all/path2/1490032861864.csv",
dataDir + "ipin2017/nogps/all/path3/EMPTY.csv",
dataDir + "ipin2017/nogps/all/path3/EMPTY.csv",
},
mapDir + "wifi_fp_all.dat",
40,
VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
mapDir + "grid_SHL38.dat"
};
} data;
@@ -116,6 +102,8 @@ Floorplan::IndoorMap* MyState::map;
void run(DataSetup setup, int numFile, std::string folder) {
std::vector<double> kld_data;
// load the floorplan
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
MyState::map = map;
@@ -126,7 +114,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
BeaconModelLogDistCeiling beaconModel(map);
beaconModel.loadBeaconsFromMap(map, Settings::BeaconModel::TXP, Settings::BeaconModel::EXP, Settings::BeaconModel::WAF);
Assert::isFalse(beaconModel.getAllBeacons().empty(), "no Beacons stored within the map.xml");
//Assert::isFalse(beaconModel.getAllBeacons().empty(), "no Beacons stored within the map.xml");
// build the grid
@@ -152,15 +140,12 @@ void run(DataSetup setup, int numFile, std::string folder) {
WiFiGridEstimator::estimate(grid, WiFiModel, Settings::smartphoneAboveGround);
// reading file
FileReader fr(setup.training[numFile]);
// doing ground truth stuff
std::vector<int> path_0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
std::vector<int> path_1 = {29, 28, 27, 26, 25, 24, 23, 22, 21, 20, 13, 14, 15, 16, 17, 18, 19, 2, 1, 0};
std::vector<int> path_2 = {29, 28, 27, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0, 1, 2, 19, 18, 17, 16, 15, 14, 13, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29};
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, path_1);
Offline::FileReader fr(setup.training[numFile]);
//interpolator for ground truth
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, Settings::Paths_IPIN2017::path1);
//gnuplot plot
Plotti plot;
plot.addFloors(map);
plot.addOutline(map);
@@ -175,12 +160,12 @@ void run(DataSetup setup, int numFile, std::string folder) {
MyObs obs;
//random start position
//std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid)); std::move(init);
std::unique_ptr<K::ParticleFilterInitializer<MyState>> init(new PFInit(grid)); std::move(init);
//filter init
//std::unique_ptr<PFInit> init =
//K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInitFixed>(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 1080.0f), 90.0f)));
K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
//K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInitFixed>(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 1080.0f), 90.0f)));
pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
pf.setEvaluation(std::unique_ptr<PFEval>(new PFEval(WiFiModel, beaconModel, grid)));
@@ -212,41 +197,41 @@ void run(DataSetup setup, int numFile, std::string folder) {
errorFile.open (errorDir + folder + "/error_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
// parse each sensor-value within the offline data
for (const FileReader::Entry& e : fr.getEntries()) {
for (const Offline::Entry& e : fr.getEntries()) {
const Timestamp ts = Timestamp::fromMS(e.ts);
if (e.type == FileReader::Sensor::WIFI) {
if (e.type == Offline::Sensor::WIFI) {
obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
} else if (e.type == FileReader::Sensor::BEACON){
} else if (e.type == Offline::Sensor::BEACON){
obs.beacons.entries.push_back(fr.getBeacons()[e.idx].data);
// remove to old beacon measurements
obs.beacons.removeOld(ts);
} else if (e.type == FileReader::Sensor::ACC) {
} else if (e.type == Offline::Sensor::ACC) {
if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
++ctrl.numStepsSinceLastTransition;
}
const FileReader::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
td.addAccelerometer(ts, _acc.data);
} else if (e.type == FileReader::Sensor::GYRO) {
const FileReader::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
} else if (e.type == Offline::Sensor::GYRO) {
const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
const float delta_gyro = td.addGyroscope(ts, _gyr.data);
ctrl.turnSinceLastTransition_rad += delta_gyro;
} else if (e.type == FileReader::Sensor::BARO) {
} else if (e.type == Offline::Sensor::BARO) {
relBaro.add(ts, fr.getBarometer()[e.idx].data);
obs.relativePressure = relBaro.getPressureRealtiveToStart();
obs.sigmaPressure = relBaro.getSigma();
} else if (e.type == FileReader::Sensor::LIN_ACC) {
} else if (e.type == Offline::Sensor::LIN_ACC) {
md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);
} else if (e.type == FileReader::Sensor::GRAVITY) {
} else if (e.type == Offline::Sensor::GRAVITY) {
md.addGravity(ts, fr.getGravity()[e.idx].data);
Eigen::Vector2f curVec = md.getCurrentMotionAxis();
ctrl.motionDeltaAngle_rad = md.getMotionChangeInRad();
@@ -259,12 +244,15 @@ void run(DataSetup setup, int numFile, std::string folder) {
MyState est = pf.update(&ctrl, obs);
Point3 estPos = est.position.inMeter();
//double kld = getKernelDensityProbability(pf, WiFiModel, obs, grid, ts, plot);
double kld = kldFromMultivariatNormal(pf, estPos, WiFiModel, obs, grid, ts, plot);
kld_data.push_back(kld);
//current ground truth position
Point3 gtPos = gtInterpolator.get(static_cast<uint64_t>(ts.ms()));
/** plotting stuff */
plot.pInterest.clear();
//turn angle plot
@@ -275,27 +263,17 @@ void run(DataSetup setup, int numFile, std::string folder) {
static float angleSumMotion = 0; angleSumMotion += ctrl.motionDeltaAngle_rad;
plot.showAngle(2, angleSumMotion + M_PI, Point2(0.9, 0.8), "Motion: ");
//plot.debugWiFi(eval->model, obs.wifis, obs.curTS);
//plot.debugProb(grid, std::bind(&PFEval::getGPS, eval, std::placeholders::_1, std::placeholders::_2), obs);
//plot.debugProb(grid, std::bind(&PFEval::getWIFI, eval, std::placeholders::_1, std::placeholders::_2), obs);
//plot.debugProb(grid, std::bind(&PFEval::getALL, eval, std::placeholders::_1, std::placeholders::_2), obs);
plot.setEst(estPos);
plot.setGT(gtPos);
plot.addEstimationNode(estPos);
plot.addParticles(pf.getParticles());
plot.pColorPoints.clear();
plot.debugWiFi(WiFiModel, obs.wifi, ts, 10.8f); //3 floor
plot.debugWiFi(WiFiModel, obs.wifi, ts, 7.4f); //2 floor
plot.debugWiFi(WiFiModel, obs.wifi, ts, 4.0f); //1 floor
plot.debugWiFi(WiFiModel, obs.wifi, ts, 0.0f); //0 floor
//plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";
//plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
int minutes = static_cast<int>(ts.sec()) / 60;
plot.gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << static_cast<int>(static_cast<int>(ts.sec())%60) << "'\n";
plot.gp << "set label 1002 at screen 0.04, 0.94 'KLD: " << ":" << kld << "'\n";
//plot.gp << "set label 1002 at screen 0.98, 0.98 'act:" << ctrl.barometer.act << "'\n";
// error between GT and estimation
@@ -311,6 +289,25 @@ void run(DataSetup setup, int numFile, std::string folder) {
// reset control
ctrl.resetAfterTransition();
//plot image files
// for(int i = 0; i < map->floors.size(); ++i){
// plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t++), i);
// plot.show();
// usleep(10*10);
// }
// plot.printSideView("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t++), 90);
// plot.show();
// plot.printSideView("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t++), 0);
// plot.show();
// plot.printOverview("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t++));
// plot.show();
// //reset to qt window
// plot.gp << "set terminal qt size 800,600\n";
}
}
@@ -341,7 +338,26 @@ void run(DataSetup setup, int numFile, std::string folder) {
// plot.printOverview("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
// plot.show();
sleep(1);
//draw kld
K::Gnuplot gp;
K::GnuplotPlot plotkld;
K::GnuplotPlotElementLines lines;
for(int i=0; i < kld_data.size()-1; ++i){
K::GnuplotPoint2 p1(i, kld_data[i]);
K::GnuplotPoint2 p2(i+1, kld_data[i+1]);
lines.addSegment(p1, p2);
}
plotkld.add(&lines);
gp.draw(plotkld);
gp.flush();
sleep(1000);
}
@@ -351,7 +367,7 @@ int main(int argc, char** argv) {
//run(data.BERKWERK, 6, "EVALBERGWERK"); // Nexus vor
//for(int i = 0; i < 5; ++i){
run(data.IPIN2015, 3, "EVALIPIN2015"); // Nexus Path2
run(data.IPIN2017, 0, "ipin2017"); // Nexus Path2
//}
}