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many small changes, added filereader with beacons, added motion detection stuff, testcases

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toni
2017-03-02 18:08:02 +01:00
parent ef6f44969f
commit 54894a0c23
8 changed files with 778 additions and 10 deletions
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tests/sensors/imu/TestMotionDetection.cpp Normal file
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#ifdef WITH_TESTS
#include "../../Tests.h"
#include "../../../sensors/imu/MotionDetection.h"
#include "../../../sensors/imu/TurnDetection.h"
#include "../../../sensors/offline/FileReader.h"
/** visualize the motionAxis */
TEST(MotionDetection, motionAxis) {
MotionDetection md;
//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";
//Walking with smartphone straight and always parallel to motion axis
//std::string filename = getDataFile("motion/straight_potrait.csv");
//straight_landscape_left/right: walking ~40 sec straight and changing every 5 seconds the mode. started with potrait. landscape routed either to left or right.
std::string filename = getDataFile("motion/straight_landscape_left.csv");
//std::string filename = getDataFile("motion/straight_landscape_right.csv");
//straight_inturn_landscape: walked straight made a left turn and change the phone to landscape mode during the turn-phase
//std::string filename = getDataFile("motion/straight_inturn_landscape.csv");
//rounds_potrait: walked 3 rounds holding the phone in potrait mode. always making left turns.
//std::string filename = getDataFile("motion/rounds_potrait.csv");
//round_landscape: walked 3 rounds holding the phone in landscape mode. always making left turns.
//std::string filename = getDataFile("motion/rounds_landscape.csv");
//round potrait_to_landscape: walked 1 round with potrait, 1 with landscape and again potrait. the mode was change while walking straight not in a turn. always making left turns.
//std::string filename = getDataFile("motion/rounds_potrait_to_landscape.csv");
//rounds_pocket: had the phone in my jeans pocket screen pointed at my body and the phone was headfirst. pulled it shortly out after 2 rounds and rotated the phone 180° z-wise (screen not showing at me)
//std::string filename = getDataFile("motion/rounds_pocket.csv");
//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
//std::string filename = getDataFile("motion/table_flat.csv");
FileReader fr(filename);
K::Gnuplot gp;
K::GnuplotPlot plot;
gp << "set xrange[-1:1]\n set yrange[-1:1]\n";
Eigen::Vector2f curVec;
float motionAxisAngleRad;
Timestamp ts;
Timestamp lastTs;
//calc motion axis
for (const FileReader::Entry& e : fr.getEntries()) {
ts = Timestamp::fromMS(e.ts);
if (e.type == FileReader::Sensor::LIN_ACC) {
md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);
} else if (e.type == FileReader::Sensor::GRAVITY) {
md.addGravity(ts, fr.getGravity()[e.idx].data);
curVec = md.getCurrentMotionAxis();
motionAxisAngleRad = md.getMotionChangeInRad();
}
// start with the first available timestamp
if (lastTs.isZero()) {lastTs = ts;}
if(ts - lastTs > Timestamp::fromMS(500)) {
lastTs = ts;
K::GnuplotPoint2 raw_p1(0, 0);
K::GnuplotPoint2 raw_p2(curVec(0,0), curVec(1,0));
K::GnuplotPlotElementLines motionLines;
motionLines.addSegment(raw_p1, raw_p2);
plot.add(&motionLines);
gp << "set label 111 ' Angle: " << motionAxisAngleRad * 180 / 3.14159 << "' at screen 0.1,0.1\n";
gp.draw(plot);
gp.flush();
//usleep(5000*33);
}
}
//was passiert bei grenzwerten. 90° oder sowas.
//wie stabil ist die motion axis eigentlich?
//erkenn wir aktuell überhaupt einen turn, wenn wir das telefon drehen?
//wie hilft mir die motion achse? über einen faktor? in welchem verhältnis stehen motion axis und heading?
}
/** comparing motionAngle and turnAngle */
TEST(MotionDetection, motionAngle) {
MotionDetection md;
TurnDetection td;
//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";
//Walking with smartphone straight and always parallel to motion axis
std::string filename = getDataFile("motion/straight_potrait.csv");
//straight_landscape_left/right: walking ~40 sec straight and changing every 5 seconds the mode. started with potrait. landscape routed either to left or right.
//std::string filename = getDataFile("motion/straight_landscape_left.csv");
//std::string filename = getDataFile("motion/straight_landscape_right.csv");
//straight_inturn_landscape: walked straight made a left turn and change the phone to landscape mode during the turn-phase
//std::string filename = getDataFile("motion/straight_inturn_landscape.csv");
//rounds_potrait: walked 3 rounds holding the phone in potrait mode. always making left turns.
//std::string filename = getDataFile("motion/rounds_potrait.csv");
//round_landscape: walked 3 rounds holding the phone in landscape mode. always making left turns.
//std::string filename = getDataFile("motion/rounds_landscape.csv");
//round potrait_to_landscape: walked 1 round with potrait, 1 with landscape and again potrait. the mode was change while walking straight not in a turn. always making left turns.
//std::string filename = getDataFile("motion/rounds_potrait_to_landscape.csv");
//rounds_pocket: had the phone in my jeans pocket screen pointed at my body and the phone was headfirst. pulled it shortly out after 2 rounds and rotated the phone 180° z-wise (screen not showing at me)
//std::string filename = getDataFile("motion/rounds_pocket.csv");
//table_flat: phone was flat on the table and moved slowly forward/backward for 60 cm.
//std::string filename = getDataFile("motion/table_flat.csv");
FileReader fr(filename);
Timestamp ts;
//save for later plotting
std::vector<float> delta_motionAngles;
std::vector<float> delta_turnAngles;
//calc motion axis
for (const FileReader::Entry& e : fr.getEntries()) {
ts = Timestamp::fromMS(e.ts);
if (e.type == FileReader::Sensor::LIN_ACC) {
md.addLinearAcceleration(ts, fr.getLinearAcceleration()[e.idx].data);
} else if (e.type == FileReader::Sensor::GRAVITY) {
md.addGravity(ts, fr.getGravity()[e.idx].data);
delta_motionAngles.push_back(md.getMotionChangeInRad());
} else if (e.type == FileReader::Sensor::ACC) {
const FileReader::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];
delta_turnAngles.push_back(td.addGyroscope(ts, _gyr.data));
}
}
//draw motion
static K::Gnuplot gpMotion;
K::GnuplotPlot plotMotion;
K::GnuplotPlotElementLines motionLines;
for(int i = 0; i < delta_motionAngles.size() - 1; ++i){
K::GnuplotPoint2 raw_p1(i, delta_motionAngles[i]);
K::GnuplotPoint2 raw_p2(i + 1, delta_motionAngles[i+1]);
motionLines.addSegment(raw_p1, raw_p2);
}
gpMotion << "set title 'Motion Detection'\n";
plotMotion.add(&motionLines);
gpMotion.draw(plotMotion);
gpMotion.flush();
//draw rotation
static K::Gnuplot gpTurn;
K::GnuplotPlot plotTurn;
K::GnuplotPlotElementLines turnLines;
for(int i = 0; i < delta_turnAngles.size() - 1; ++i){
K::GnuplotPoint2 raw_p1(i, delta_turnAngles[i]);
K::GnuplotPoint2 raw_p2(i + 1, delta_turnAngles[i+1]);
turnLines.addSegment(raw_p1, raw_p2);
}
gpTurn << "set title 'Turn Detection'\n";
plotTurn.add(&turnLines);
gpTurn.draw(plotTurn);
gpTurn.flush();
sleep(1);
}
#endif