FHWS/IPIN2017
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too many things... sorry :D

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toni
2017-03-30 18:52:49 +02:00
parent 212573cba2
commit 9b21e5627d
3 changed files with 281 additions and 44 deletions
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98
code/main.cpp
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@@ -100,7 +100,7 @@ struct Data {
Floorplan::IndoorMap* MyState::map;
void run(DataSetup setup, int numFile, std::string folder) {
void run(DataSetup setup, int numFile, std::string folder, std::vector<int> gtPath) {
std::vector<double> kld_data;
@@ -143,7 +143,7 @@ void run(DataSetup setup, int numFile, std::string folder) {
Offline::FileReader fr(setup.training[numFile]);
//interpolator for ground truth
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, Settings::Paths_IPIN2017::path1);
Interpolator<uint64_t, Point3> gtInterpolator = fr.getGroundTruthPath(map, gtPath);
//gnuplot plot
Plotti plot;
@@ -165,19 +165,23 @@ void run(DataSetup setup, int numFile, std::string folder) {
//filter init
//std::unique_ptr<PFInit> init =
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)));
//K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(Settings::numParticles, std::unique_ptr<PFInitFixed>(new PFInitFixed(grid, GridPoint(1120.0f, 750.0f, 740.0f), 90.0f)));
pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
pf.setEvaluation(std::unique_ptr<PFEval>(new PFEval(WiFiModel, beaconModel, grid)));
//resampling
pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
//pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
//pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.4)));
//pf.setResampling(std::unique_ptr<NodeResampling<MyState, MyNode>>(new NodeResampling<MyState, MyNode>(*grid)););
pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingDivergence<MyState>>(new K::ParticleFilterResamplingDivergence<MyState>()));
pf.setNEffThreshold(0.95);
//estimation
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.95)));
pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5)));
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationKernelDensity<MyState, 3>>(new K::ParticleFilterEstimationKernelDensity<MyState, 3>()));
@@ -191,6 +195,10 @@ void run(DataSetup setup, int numFile, std::string folder) {
K::Statistics<float> errorStats;
//calc wi-fi prob for every node and get mean vector
WiFiObserverFree wiFiProbability(Settings::WiFiModel::sigma, WiFiModel);
//file writing for error data
long int t = static_cast<long int>(time(NULL));
std::ofstream errorFile;
@@ -241,17 +249,34 @@ void run(DataSetup setup, int numFile, std::string folder) {
obs.currentTime = ts;
MyState est = pf.update(&ctrl, obs);
const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(obs.wifi);
std::vector<MyNode> allNodes = grid.getNodes();
std::vector<K::Particle<MyState>> particleWifi;
for(MyNode node : allNodes){
double prob = wiFiProbability.getProbability(node, ts, wifiObs);
K::Particle<MyState> tmp (MyState(GridPoint(node.x_cm, node.y_cm, node.z_cm)), prob);
particleWifi.push_back(tmp);
}
if(kld_data.empty()){
kld_data.push_back(0.0);
}
std::function<double(std::vector<K::Particle<MyState>>&, MyState, std::vector<K::Particle<MyState>>&)> kldFunc = getKernelDensityProbability;
//std::function<double(std::vector<K::Particle<MyState>>&, MyState, std::vector<K::Particle<MyState>>&)> kldFunc = kldFromMultivariatNormal;
double kld = 0.0;
MyState est = pf.update(&ctrl, obs, particleWifi, kldFunc, kld);
Point3 estPos = est.position.inMeter();
//double kld = getKernelDensityProbability(pf, WiFiModel, obs, grid, ts, plot);
double kld = kldFromMultivariatNormal(pf, estPos, WiFiModel, obs, grid, ts, plot);
//double kld = kldFromMultivariatNormal(pf, estPos, particleWifi, 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();
@@ -289,25 +314,6 @@ 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";
}
}
@@ -323,20 +329,20 @@ void run(DataSetup setup, int numFile, std::string folder) {
plot.saveToFile(plotFile);
plotFile.close();
// for(int i = 0; i < map->floors.size(); ++i){
// plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
// plot.show();
// usleep(1000*10);
// }
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/IPIN2016/competition/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), 90);
plot.show();
// plot.printSideView("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
// 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/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
// plot.show();
plot.printOverview("/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
plot.show();
//draw kld
@@ -344,6 +350,11 @@ void run(DataSetup setup, int numFile, std::string folder) {
K::GnuplotPlot plotkld;
K::GnuplotPlotElementLines lines;
//save as screenshot
std::string path = "/home/toni/Documents/programme/localization/IPIN2017/code/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t);
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_shennendistance.png'\n";
for(int i=0; i < kld_data.size()-1; ++i){
K::GnuplotPoint2 p1(i, kld_data[i]);
@@ -353,11 +364,11 @@ void run(DataSetup setup, int numFile, std::string folder) {
}
plotkld.add(&lines);
gp.draw(plotkld);
gp.flush();
sleep(1000);
std::cout << "finished" << std::endl;
sleep(1);
}
@@ -367,7 +378,12 @@ int main(int argc, char** argv) {
//run(data.BERKWERK, 6, "EVALBERGWERK"); // Nexus vor
//for(int i = 0; i < 5; ++i){
run(data.IPIN2017, 0, "ipin2017"); // Nexus Path2
//run(data.IPIN2017, 0, "ipin2017"); // Nexus Path2
//run(data.IPIN2017, 1, "ipin2017");
run(data.IPIN2017, 4, "ipin2017", Settings::Paths_IPIN2017::path3);
run(data.IPIN2017, 2, "ipin2017", Settings::Paths_IPIN2017::path2);
run(data.IPIN2017, 5, "ipin2017", Settings::Paths_IPIN2017::path3);
run(data.IPIN2017, 3, "ipin2017", Settings::Paths_IPIN2017::path2);
//}
}