huge commit
- worked on about everything - grid walker using plugable modules - wifi models - new distributions - worked on geometric data-structures - added typesafe timestamps - worked on grid-building - added sensor-classes - added sensor analysis (step-detection, turn-detection) - offline data reader - many test-cases
This commit is contained in:
39
tests/sensors/radio/TestLogDistanceCeilingModel.cpp
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39
tests/sensors/radio/TestLogDistanceCeilingModel.cpp
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@@ -0,0 +1,39 @@
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#ifdef WITH_TESTS
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#include "../../Tests.h"
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#include "../../../sensors/radio/model/WiFiModelLogDistCeiling.h"
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TEST(LogDistanceCeilingModel, calc) {
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Floorplan::Floor* f0 = new Floorplan::Floor(); f0->atHeight = 0;
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Floorplan::Floor* f1 = new Floorplan::Floor(); f1->atHeight = 3;
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Floorplan::Floor* f2 = new Floorplan::Floor(); f2->atHeight = 7;
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Floorplan::IndoorMap map;
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map.floors.push_back(f0);
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map.floors.push_back(f1);
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map.floors.push_back(f2);
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LocatedAccessPoint ap0("00:00:00:00:00:00", Point3(0,0,0));
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LocatedAccessPoint ap25("00:00:00:00:00:00", Point3(0,0,2.5));
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WiFiModelLogDistCeiling model(-40, 1.0, -8.0, &map);
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ASSERT_EQ(-40, model.getRSSI(ap0, Point3(1,0,0)));
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ASSERT_EQ(-40, model.getRSSI(ap0, Point3(0,1,0)));
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ASSERT_EQ(-40, model.getRSSI(ap0, Point3(0,0,1)));
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ASSERT_EQ(-40, model.getRSSI(ap25, Point3(1,0,2.5)));
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ASSERT_EQ(-40, model.getRSSI(ap25, Point3(0,1,2.5)));
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ASSERT_EQ(-40-8, model.getRSSI(ap25, Point3(0,0,3.5))); // one floor within
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ASSERT_EQ(model.getRSSI(ap0, Point3(8,0,0)), model.getRSSI(ap0, Point3(0,8,0)));
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ASSERT_EQ(model.getRSSI(ap0, Point3(8,0,0)), model.getRSSI(ap0, Point3(0,0,8))+8+8); // two ceilings within
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}
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#endif
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96
tests/sensors/radio/TestVAPGrouper.cpp
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96
tests/sensors/radio/TestVAPGrouper.cpp
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@@ -0,0 +1,96 @@
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#ifdef WITH_TESTS
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#include "../../Tests.h"
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#include "../../../sensors/radio/VAPGrouper.h"
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/** test the RSSI storage. [we use only a single byte due to memory constraints, but allow 0.25 dB steps!] */
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TEST(WiFiVAPGrouper, baseMAC) {
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VAPGrouper vg(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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// first VAP group
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const MACAddress ap1B("aa:bb:cc:dd:ee:f0"); // base-mac (last digit zero)
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const MACAddress ap10("aa:bb:cc:dd:ee:f3"); // vap 1
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const MACAddress ap11("aa:bb:cc:dd:ee:f7"); // vap 2
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const MACAddress ap12("aa:bb:cc:dd:ee:ff"); // vap 3
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// second VAP group
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const MACAddress ap2B("ff:ee:dd:cc:bb:a0"); // base-mac (last digit zero)
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const MACAddress ap20("ff:ee:dd:cc:bb:a9"); // vap 1
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const MACAddress ap21("ff:ee:dd:cc:bb:a8"); // vap 2
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const MACAddress ap22("ff:ee:dd:cc:bb:ae"); // vap 3
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// all in first group must equal
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ASSERT_EQ( ap1B, vg.getBaseMAC(ap10) );
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ASSERT_EQ( vg.getBaseMAC(ap10), vg.getBaseMAC(ap11) );
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ASSERT_EQ( vg.getBaseMAC(ap11), vg.getBaseMAC(ap12) );
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// all in second group must equal
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ASSERT_EQ( ap2B, vg.getBaseMAC(ap20) );
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ASSERT_EQ( vg.getBaseMAC(ap20), vg.getBaseMAC(ap21) );
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ASSERT_EQ( vg.getBaseMAC(ap21), vg.getBaseMAC(ap22) );
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// first and second must be different
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ASSERT_NE( vg.getBaseMAC(ap10), vg.getBaseMAC(ap20) );
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}
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TEST(WiFiVAPGrouper, aggregation) {
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VAPGrouper vgAvg(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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VAPGrouper vgMedian(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MEDIAN);
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VAPGrouper vgMax(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::MAXIMUM);
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WiFiMeasurements scan;
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const AccessPoint vap10("aa:bb:cc:dd:ee:f3");
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const AccessPoint vap11("aa:bb:cc:dd:ee:f5");
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const AccessPoint vap12("aa:bb:cc:dd:ee:fe");
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const AccessPoint vap20("01:bb:cc:dd:11:a3");
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const AccessPoint vap21("01:bb:cc:dd:11:a5");
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const AccessPoint vap22("01:bb:cc:dd:11:ae");
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const AccessPoint vap23("01:bb:cc:dd:11:ae");
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scan.entries.push_back(WiFiMeasurement(vap10, -75, Timestamp::fromMS(11)));
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scan.entries.push_back(WiFiMeasurement(vap11, -70, Timestamp::fromMS(12)));
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scan.entries.push_back(WiFiMeasurement(vap12, -71, Timestamp::fromMS(13)));
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scan.entries.push_back(WiFiMeasurement(vap20, -69, Timestamp::fromMS(22)));
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scan.entries.push_back(WiFiMeasurement(vap21, -61, Timestamp::fromMS(25)));
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scan.entries.push_back(WiFiMeasurement(vap22, -62, Timestamp::fromMS(23)));
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scan.entries.push_back(WiFiMeasurement(vap23, -60, Timestamp::fromMS(20)));
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const WiFiMeasurements gAvg = vgAvg.group(scan);
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const WiFiMeasurements gMedian = vgMedian.group(scan);
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const WiFiMeasurements gMax = vgMax.group(scan);
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// correct number of grouped entries?
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ASSERT_EQ(2, gAvg.entries.size());
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ASSERT_EQ(2, gMedian.entries.size());
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ASSERT_EQ(2, gMax.entries.size());
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// correct average values?
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ASSERT_EQ(-72, gAvg.entries.back().getRSSI());
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ASSERT_EQ(-63, gAvg.entries.front().getRSSI());
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ASSERT_EQ(Timestamp::fromMS(11), gAvg.entries.back().getTimestamp());
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ASSERT_EQ(Timestamp::fromMS(22), gAvg.entries.front().getTimestamp());
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// correct median values?
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ASSERT_EQ(-71, gMedian.entries.back().getRSSI());
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ASSERT_EQ(-61.5, gMedian.entries.front().getRSSI());
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ASSERT_EQ(Timestamp::fromMS(11), gMedian.entries.back().getTimestamp());
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ASSERT_EQ(Timestamp::fromMS(22), gMedian.entries.front().getTimestamp());
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// correct max values?
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ASSERT_EQ(-70, gMax.entries.back().getRSSI());
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ASSERT_EQ(-60, gMax.entries.front().getRSSI());
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ASSERT_EQ(Timestamp::fromMS(11), gMax.entries.back().getTimestamp());
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ASSERT_EQ(Timestamp::fromMS(22), gMax.entries.front().getTimestamp());
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}
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#endif
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427
tests/sensors/radio/TestWiFiEval.cpp
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427
tests/sensors/radio/TestWiFiEval.cpp
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@@ -0,0 +1,427 @@
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#ifdef WITH_TESTS
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#include "../../Tests.h"
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#include "../../../sensors/offline/OfflineAndroid.h"
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#include "../../../sensors/radio/WiFiProbabilityFree.h"
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#include "../../../sensors/radio/model/WiFiModelLogDist.h"
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#include "../../../sensors/radio/model/WiFiModelLogDistCeiling.h"
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#include "../../../sensors/radio/VAPGrouper.h"
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#include "../../../geo/Point3.h"
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#include "../../../math/Interpolator.h"
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#include "../../../floorplan/v2/FloorplanReader.h"
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#include <KLib/math/statistics/Statistics.h>
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#include <KLib/math/optimization/NumOptAlgoDownhillSimplex.h>
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std::vector<std::string> getTrainingFiles() {
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// all training files
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return {
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// "train/walks/path4_galaxy_forward.dat",
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// "train/walks/path4_galaxy_backward.dat",
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// "train/walks/path3_galaxy_forward.dat",
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// "train/walks/path3_galaxy_backward.dat",
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// "train/walks/path2_galaxy_forward.dat",
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// "train/walks/path2_galaxy_backward.dat",
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// "train/walks/path1_galaxy_forward.dat",
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// "train/walks/path1_galaxy_backward.dat",
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"train/walks/path4_nexus_forward.dat",
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"train/walks/path4_nexus_backward.dat",
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"train/walks/path3_nexus_forward.dat",
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"train/walks/path3_nexus_backward.dat",
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"train/walks/path2_nexus_forward.dat",
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"train/walks/path2_nexus_backward.dat",
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"train/walks/path1_nexus_forward.dat",
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"train/walks/path1_nexus_backward.dat",
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};
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}
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struct APParams {
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float txp;
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float exp;
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float waf;
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float offset;
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};
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/*
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WiFiObservation groupVAP(const WiFiObservation& inp) {
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struct Debug {
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std::string mac;
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float rssi;
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Debug(const std::string& mac, const float rssi) : mac(mac), rssi(rssi) {;}
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};
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struct Params{
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float rssiSum = 0;
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int cnt = 0;
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std::vector<Debug> single;
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};
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std::unordered_map<MACAddress, Params> map;
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WiFiObservation out;
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for (const WiFiObservationEntry& e : inp.entries) {
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std::string mac = e.mac.asString();
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mac[mac.size()-1] = '9';
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map[mac].rssiSum += e.rssi;
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map[mac].cnt += 1;
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map[mac].single.push_back(Debug(e.mac.asString(), e.rssi));
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}
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for (auto it : map) {
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const Params& params = it.second;
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WiFiObservationEntry entry(it.first, params.rssiSum / params.cnt);
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out.entries.push_back(entry);
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}
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return out;
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}
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*/
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struct WiFiEvalTestBase {
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// all training files
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std::vector<std::string> files = getTrainingFiles();
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// parser for each file
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std::vector<OfflineAndroid> parsers;
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// load the floorplan
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Floorplan::IndoorMap* im = Floorplan::Reader::readFromFile(getDataFile("SHL.xml"));
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// all access points within the floorplan
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std::vector<LocatedAccessPoint> aps;
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std::unordered_map<MACAddress, LocatedAccessPoint> apsMap;
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WiFiEvalTestBase() {
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for (Floorplan::Floor* f : im->floors) {
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for (Floorplan::AccessPoint* ap : f->accesspoints) {
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// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6C:A4:A9") {continue;}
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if (Floorplan::toUpperCase(ap->mac) == "00:04:96:77:EB:99") {continue;}
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if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:82:79") {continue;}
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// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6C:6E:F9") {continue;}
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// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:46:09") {continue;}
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if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:64:99") {continue;}
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if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6C:3A:A9") {continue;}
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if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:DB:69") {continue;}
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aps.push_back(LocatedAccessPoint(*ap));
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apsMap.insert(std::pair<MACAddress, LocatedAccessPoint>(ap->mac, LocatedAccessPoint(*ap)));
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}
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}
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for (const std::string& file : files) {
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parsers.push_back(OfflineAndroid(getDataFile(file)));
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}
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}
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double getError(APParams params) {
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if (params.waf > 0) {return 99999;}
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// params.txp = -40;
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// params.offset = -6;
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double dB_err = 0;
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int cnt = 0;
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// model
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WiFiModelLogDistCeiling model(params.txp, params.exp, params.waf, im);
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VAPGrouper vg(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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// evaluate each training file
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for (const OfflineAndroid& parser : parsers) {
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// ground-truth interpolator
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Interpolator<Timestamp, Point3> interpol = parser.getWalkedPathInterpolatorCM();
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// evaluate each WiFi reading
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for (const OfflineEntry<WiFiMeasurements>& _obs : parser.getWiFi()) {
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WiFiMeasurements obs = vg.group(_obs.data);
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// ground-truth at the time of measurement
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const Point3 pos = interpol.get(_obs.ts) / 100;
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// dB diff
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for (const WiFiMeasurement& wifiObs : obs.entries) {
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// only use configured APs
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auto it = apsMap.find(wifiObs.getAP().getMAC());
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if (it == apsMap.end()) {continue;}
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// get model RSSI
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const float mdlRSSI = model.getRSSI(it->second, pos) + params.offset;
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// difference to scan RSSI
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const float diff = std::abs(mdlRSSI - wifiObs.getRSSI());
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//stats[wifiObs.mac].add(diff);
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dB_err += diff;
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++cnt;
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}
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}
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}
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return dB_err / cnt;
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}
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std::unordered_map<MACAddress, K::Statistics<float>> getStats(APParams params) {
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std::unordered_map<MACAddress, K::Statistics<float>> stats;
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// model
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WiFiModelLogDistCeiling model(params.txp, params.exp, params.waf, im);
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// evaluate each training file
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for (const OfflineAndroid& parser : parsers) {
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// ground-truth interpolator
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Interpolator<Timestamp, Point3> interpol = parser.getWalkedPathInterpolatorCM();
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// evaluate each WiFi reading
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for (const OfflineEntry<WiFiMeasurements>& obs : parser.getWiFi()) {
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// ground-truth at the time of measurement
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const Point3 pos = interpol.get(obs.ts) / 100;
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// dB diff
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for (const WiFiMeasurement& wifiObs : obs.data.entries) {
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// only use configured APs
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auto it = apsMap.find(wifiObs.getAP().getMAC());
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if (it == apsMap.end()) {continue;}
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// get model RSSI
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const float mdlRSSI = model.getRSSI(it->second, pos) + params.offset;
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// difference to scan RSSI
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const float diff = std::abs(mdlRSSI - wifiObs.getRSSI());
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stats[wifiObs.getAP().getMAC()].add(diff);
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}
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}
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||||
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}
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return stats;
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}
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|
||||
};
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TEST(WiFiEval, VAP) {
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WiFiEvalTestBase base;
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float errSum = 0;
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int cnt = 0;
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VAPGrouper vg(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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// evaluate each training file
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for (const OfflineAndroid& parser : base.parsers) {
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// evaluate each WiFi reading
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for (const OfflineEntry<WiFiMeasurements>& obs : parser.getWiFi()) {
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WiFiMeasurements obsUngrouped = obs.data;
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WiFiMeasurements obsGrouped = vg.group(obsUngrouped);
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struct Comp {
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float rssiUngrouped = 0;
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float rssiGrouped = 0;
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};
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||||
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std::unordered_map<MACAddress, Comp> map;
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||||
for (const WiFiMeasurement& entryUngrouped : obsUngrouped.entries) {
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map[entryUngrouped.getAP().getMAC()].rssiUngrouped = entryUngrouped.getRSSI();
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}
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for (const WiFiMeasurement& entryGrouped : obsGrouped.entries) {
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map[entryGrouped.getAP().getMAC()].rssiGrouped = entryGrouped.getRSSI();
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}
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for (auto it : map) {
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Comp c = it.second;
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if (c.rssiUngrouped != 0 && c.rssiGrouped != 0) {
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const float diff = std::abs(c.rssiGrouped - c.rssiUngrouped);
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errSum += diff;
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++cnt;
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}
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}
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||||
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||||
}
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||||
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||||
}
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std::cout << "average diff is: " << (errSum/cnt) << std::endl;
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||||
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}
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TEST(WiFiEval, optimize) {
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||||
WiFiEvalTestBase base;
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||||
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||||
APParams params;
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||||
params.exp = 2;
|
||||
params.txp = -40;
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||||
params.waf = -4;
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||||
params.offset = -4;
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||||
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||||
auto func = [&] (const float* data) {
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||||
APParams* params = (APParams*) data;
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return base.getError(*params);
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};
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||||
|
||||
K::NumOptAlgoDownhillSimplex<float, 4> opt;
|
||||
opt.setMaxIterations(100);
|
||||
opt.setNumRestarts(3);
|
||||
opt.calculateOptimum(func, (float*) ¶ms);
|
||||
|
||||
std::cout << params.exp << ":" << params.txp << ":" << params.waf << ":" << params.offset << std::endl;
|
||||
std::cout << base.getError(params) << std::endl;
|
||||
|
||||
for (auto it : base.getStats(params)) {
|
||||
std::cout << it.first.asString() << ": " << it.second.asString() << std::endl;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
TEST(aaiFiEval, getBestTXP_EXP) {
|
||||
|
||||
// load the floorplan
|
||||
Floorplan::IndoorMap* im = Floorplan::Reader::readFromFile(getDataFile("SHL.xml"));
|
||||
|
||||
// all access points within the floorplan
|
||||
std::vector<LocatedAccessPoint> aps;
|
||||
std::unordered_map<MACAddress, LocatedAccessPoint> apsMap;
|
||||
for (Floorplan::Floor* f : im->floors) {
|
||||
for (Floorplan::AccessPoint* ap : f->accesspoints) {
|
||||
|
||||
// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6C:A4:A9") {continue;}
|
||||
// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:64:99") {continue;}
|
||||
// if (Floorplan::toUpperCase(ap->mac) == "00:04:96:6B:82:79") {continue;}
|
||||
|
||||
aps.push_back(LocatedAccessPoint(*ap));
|
||||
apsMap.insert(std::pair<MACAddress, LocatedAccessPoint>(ap->mac, LocatedAccessPoint(*ap)));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
std::vector<std::string> files = getTrainingFiles();
|
||||
|
||||
|
||||
// parser each file
|
||||
std::vector<OfflineAndroid> parsers;
|
||||
for (const std::string& file : files) {
|
||||
parsers.push_back(OfflineAndroid(getDataFile(file)));
|
||||
}
|
||||
|
||||
std::unordered_map<MACAddress, K::Statistics<float>> stats;
|
||||
|
||||
const float sigma = 8;
|
||||
const float waf = -4;
|
||||
const float txp = -40;
|
||||
|
||||
// eval using different parameters
|
||||
for (float exp = 1.5; exp < 3.5; exp += 0.05) {
|
||||
//){ float exp = 2.5;
|
||||
|
||||
double err = 0;
|
||||
double sum = 0;
|
||||
int cnt = 0;
|
||||
int apCnt = 0;
|
||||
|
||||
// model
|
||||
//WiFiModelLogDist model(-40, exp);
|
||||
WiFiModelLogDistCeiling model(txp, exp, waf, im);
|
||||
WiFiObserverFree observer(sigma, model, aps);
|
||||
|
||||
// evaluate each training file
|
||||
for (const OfflineAndroid& parser : parsers) {
|
||||
|
||||
// ground-truth interpolator
|
||||
Interpolator<Timestamp, Point3> interpol = parser.getWalkedPathInterpolatorCM();
|
||||
|
||||
// evaluate each WiFi reading
|
||||
for (const OfflineEntry<WiFiMeasurements>& obs : parser.getWiFi()) {
|
||||
|
||||
// ground-truth at the time of measurement
|
||||
const Point3 pos = interpol.get(obs.ts) / 100;
|
||||
|
||||
// probability
|
||||
sum += std::log(observer.getProbability(pos, obs.ts, obs.data, 0));
|
||||
++cnt;
|
||||
|
||||
// dB diff
|
||||
for (const WiFiMeasurement& wifiObs : obs.data.entries) {
|
||||
|
||||
auto it = apsMap.find(wifiObs.getAP().getMAC());
|
||||
if (it == apsMap.end()) {continue;}
|
||||
|
||||
const float mdlRSSI = model.getRSSI(it->second, pos);
|
||||
const float diff = std::abs(mdlRSSI - wifiObs.getRSSI());
|
||||
|
||||
//stats[wifiObs.mac].add(diff);
|
||||
|
||||
err += diff;
|
||||
++apCnt;
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
std::cout << exp << ":" << (sum/cnt) << std::endl;
|
||||
std::cout << exp << ":" << (err/apCnt) << std::endl;
|
||||
std::cout << std::endl;
|
||||
|
||||
|
||||
|
||||
int i = 0; (void) i;
|
||||
|
||||
}
|
||||
|
||||
// for (auto it : stats) {
|
||||
// std::cout << it.first.asString() << ": " << it.second.asString() << std::endl;
|
||||
// }
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
#endif
|
||||
@@ -1,9 +1,13 @@
|
||||
#ifdef WITH_TESTS
|
||||
|
||||
#include "../../Tests.h"
|
||||
#include "../../../sensors/radio/WiFiGridEstimator.h"
|
||||
#include "../../../sensors/radio/model/WiFiModelLogDist.h"
|
||||
#include "../../../sensors/radio/WiFiObservation.h"
|
||||
|
||||
#include "../../../sensors/radio/WiFiGridEstimator.h"
|
||||
#include "../../../sensors/radio/WiFiMeasurements.h"
|
||||
#include "../../../sensors/radio/WiFiProbability.h"
|
||||
#include "../../../sensors/radio/WiFiProbabilityFree.h"
|
||||
#include "../../../sensors/radio/WiFiProbabilityGrid.h"
|
||||
|
||||
#include "../../../grid/Grid.h"
|
||||
|
||||
@@ -38,7 +42,7 @@ TEST(WiFiGridNodeAP, rssiLimits) {
|
||||
|
||||
|
||||
|
||||
|
||||
/** gnuplot debug dumps */
|
||||
TEST(WiFiGridModelLogDist, create) {
|
||||
|
||||
int gs = 20;
|
||||
@@ -77,17 +81,19 @@ TEST(WiFiGridModelLogDist, create) {
|
||||
WiFiGridEstimator::dump(grid, "00:00:00:00:00:03", "/tmp/ap3.gp");
|
||||
WiFiGridEstimator::dump(grid, "00:00:00:00:00:04", "/tmp/ap4.gp");
|
||||
|
||||
WiFiObservation obs;
|
||||
obs.entries.push_back(WiFiObservationEntry(MACAddress("00:00:00:00:00:01"), -55));
|
||||
obs.entries.push_back(WiFiObservationEntry(MACAddress("00:00:00:00:00:02"), -55));
|
||||
obs.entries.push_back(WiFiObservationEntry(MACAddress("00:00:00:00:00:03"), -55));
|
||||
obs.entries.push_back(WiFiObservationEntry(MACAddress("00:00:00:00:00:04"), -55));
|
||||
Timestamp ts = Timestamp::fromMS(10);
|
||||
|
||||
WiFiObserver observer(5.0f);
|
||||
WiFiMeasurements obs;
|
||||
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:01"), -55, ts));
|
||||
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:02"), -55, ts));
|
||||
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:03"), -55, ts));
|
||||
obs.entries.push_back(WiFiMeasurement(MACAddress("00:00:00:00:00:04"), -55, ts));
|
||||
|
||||
WiFiObserverGrid observer(5.0f);
|
||||
const MyNode& gn = grid.getNodeFor(GridPoint(1000,1000,0));
|
||||
const float p = observer.getProbability(gn, obs, 0);
|
||||
const float p = observer.getProbability(gn, ts, obs);
|
||||
|
||||
observer.dump(grid, obs, "/tmp/eval1.gp");
|
||||
observer.dump(grid, ts, obs, "/tmp/eval1.gp");
|
||||
|
||||
int i = 0; (void) i;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user