added beacon stuff similiar architecture then wifi \n added activity percentage stuff \n added testcases
This commit is contained in:
toni
@@ -38,12 +38,20 @@ public:
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Activity currentActivity;
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MovingAVG<float> mvAvg = MovingAVG<float>(20);
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/** change this values for much success */
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/** change this values for much success
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*
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* Nexus 6:
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* butter = Filter::ButterworthLP<float>(10,0.1f,2);
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* threshold = 0.025;
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* diffSize = 20;
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* FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
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*/
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const bool additionalLowpassFilter = false;
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const int diffSize = 20; //the number values used for finding the activity.
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const int diffSize = 20; //the number values used for finding the activity.
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const float threshold = 0.025; // if diffSize is getting smaller, treshold needs to be adjusted in the same direction!
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Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.1f,2);
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Filter::ButterworthLP<float> butter2 = Filter::ButterworthLP<float>(10,0.1f,2);
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Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2);
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Filter::ButterworthLP<float> butter2 = Filter::ButterworthLP<float>(10,0.05f,2);
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FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
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public:
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@@ -68,14 +76,14 @@ public:
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return STAY;
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}
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input.push_back(History(ts, baro));
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//input.push_back(History(ts, baro));
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bool newInterpolatedValues = false;
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//interpolate & butter
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auto callback = [&] (const Timestamp ts, const float val) {
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float interpValue = val;
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inputInterp.push_back(History(ts, BarometerData(interpValue)));
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//inputInterp.push_back(History(ts, BarometerData(interpValue)));
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//butter
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float butterValue = butter.process(interpValue);
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@@ -113,7 +121,7 @@ public:
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}else{
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actValue = sum;
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}
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sumHist.push_back(actValue);
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//sumHist.push_back(actValue);
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if(actValue > threshold){
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currentActivity = DOWN;
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@@ -127,7 +135,7 @@ public:
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}
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}
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actHist.push_back(History(ts, BarometerData(currentActivity)));
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//actHist.push_back(History(ts, BarometerData(currentActivity)));
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return currentActivity;
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270
sensors/pressure/ActivityButterPressurePercent.h
Normal file
270
sensors/pressure/ActivityButterPressurePercent.h
Normal file
@@ -0,0 +1,270 @@
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#ifndef ACTIVITYBUTTERPRESSUREPERCENT_H
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#define ACTIVITYBUTTERPRESSUREPERCENT_H
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#include "../../data/Timestamp.h"
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#include "../../math/filter/Butterworth.h"
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#include "../../math/FixedFrequencyInterpolator.h"
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#include "../../math/distribution/Normal.h"
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#include <KLib/Assertions.h>
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#include <vector>
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#include "BarometerData.h"
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/**
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* receives pressure measurements, interpolates them to a ficex frequency, lowpass filtering
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* activity recognition based on a small window given by matlabs diff(window)
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*/
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class ActivityButterPressurePercent {
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public:
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struct ActivityProbabilities{
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float elevatorDown;
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float stairsDown;
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float stay;
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float stairsUp;
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float elevatorUp;
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ActivityProbabilities(float elevatorDown, float stairsDown,
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float stay, float stairsUp, float elevatorUp) :
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elevatorDown(elevatorDown), stairsDown(stairsDown),
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stay(stay), stairsUp(stairsUp), elevatorUp(elevatorUp) {;}
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ActivityProbabilities() :
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elevatorDown(0.01f), stairsDown(0.01f),
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stay(0.96f), stairsUp(0.01f), elevatorUp(0.01f) {;}
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};
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struct History {
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Timestamp ts;
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BarometerData data;
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History(const Timestamp ts, const BarometerData data) : ts(ts), data(data) {;}
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};
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private:
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//just for debugging and plotting
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std::vector<History> input;
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std::vector<History> inputInterp;
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std::vector<History> output;
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std::vector<float> sumHist;
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std::vector<float> mvAvgHist;
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std::vector<ActivityProbabilities> actHist;
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bool initialize;
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ActivityProbabilities currentActivity;
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/** change this values for much success */
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const int diffSize = 20; //the number values used for finding the activity.
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Filter::ButterworthLP<float> butter = Filter::ButterworthLP<float>(10,0.05f,2);
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FixedFrequencyInterpolator<float> ffi = FixedFrequencyInterpolator<float>(Timestamp::fromMS(100));
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const float variance = 0.02f;
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const float muStairs = 0.04f;
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const float muStay = 0.00f;
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const float muEleveator = 0.08;
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std::vector<float> densities = std::vector<float>(5, 1);
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std::vector<float> densitiesOld = std::vector<float>(5, 1);;
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public:
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/** ctor */
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ActivityButterPressurePercent() : currentActivity(ActivityProbabilities(0.01f, 0.01f, 0.96f, 0.01f, 0.01f)){
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initialize = true;
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}
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/** add new sensor readings that were received at the given timestamp */
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ActivityProbabilities add(const Timestamp& ts, const BarometerData& baro) {
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//init
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if(initialize){
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butter.stepInitialization(baro.hPa);
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initialize = false;
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return currentActivity;
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}
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//input.push_back(History(ts, baro));
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bool newInterpolatedValues = false;
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//interpolate & butter
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auto callback = [&] (const Timestamp ts, const float val) {
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float interpValue = val;
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//inputInterp.push_back(History(ts, BarometerData(interpValue)));
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//butter
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float butterValue = butter.process(interpValue);
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output.push_back(History(ts, BarometerData(butterValue)));
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newInterpolatedValues = true;
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};
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ffi.add(ts, baro.hPa, callback);
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if(newInterpolatedValues == true){
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//getActivity
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if(output.size() > diffSize){
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//diff
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std::vector<float> diff;
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for(int i = output.size() - diffSize; i < output.size() - 1; ++i){
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float diffVal = output[i+1].data.hPa - output[i].data.hPa;
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diff.push_back(diffVal);
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}
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float sum = 0;
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for(float val : diff){
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sum += val;
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}
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float actValue = sum;
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//sumHist.push_back(actValue);
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//calculate the probabilites of walking down/up etc...
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densitiesOld = densities;
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//in one building there is an ultra fast elevator, therefore we need to clip the activity value...
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if(actValue > muEleveator){
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actValue = muEleveator;
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}
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if(actValue < -muEleveator){
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actValue = -muEleveator;
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}
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float densityElevatorDown = Distribution::Normal<float>::getProbability(muEleveator, variance, actValue);
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float densityStairsDown = Distribution::Normal<float>::getProbability(muStairs, variance, actValue);
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float densityStay = Distribution::Normal<float>::getProbability(muStay, variance, actValue);
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float densityStairsUp = Distribution::Normal<float>::getProbability(-muStairs, variance, actValue);
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float densityElevatorUp = Distribution::Normal<float>::getProbability(-muEleveator, variance, actValue);
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_assertTrue( (densityElevatorDown == densityElevatorDown), "the probability of densityElevatorDown is null!");
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_assertTrue( (densityStairsDown == densityStairsDown), "the probability of densityStairsDown is null!");
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_assertTrue( (densityStay == densityStay), "the probability of densityStay is null!");
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_assertTrue( (densityStairsUp == densityStairsUp), "the probability of densityStairsUp is null!");
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_assertTrue( (densityElevatorUp == densityElevatorUp), "the probability of densityElevatorUp is null!");
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//_assertTrue( (densityElevatorDown != 0), "the probability of densityElevatorDown is null!");
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//_assertTrue( (densityStairsDown != 0), "the probability of densityStairsDown is null!");
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//_assertTrue( (densityStay != 0), "the probability of densityStay is null!");
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//_assertTrue( (densityStairsUp != 0), "the probability of densityStairsUp is null!");
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//_assertTrue( (densityElevatorUp != 0), "the probability of densityElevatorUp is null!");
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//todo: aging: wahrscheinlichkeit aufzug zu fahren oder treppe zu steigen, wird nicht knall hart auf 0 gesetzt,
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//sobald der sensors nichts mehr hat, sondern wird mit der zeit geringer. größer NV?
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//const Timestamp age = ts - ap.getTimestamp();
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//wenn aufzug / treppe der größte wert, werden für x timestamps auf die jeweilige katerogie multipliziert.
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densities[0] = densityElevatorDown;
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densities[1] = densityStairsDown;
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densities[2] = densityStay;
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densities[3] = densityStairsUp;
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densities[4] = densityElevatorUp;
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//int highestValueIdx = densities.at(distance(densities.begin(), max_element (densities.begin(),densities.end())));
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// if an activity other then staying is detected with a high probability, we are using the previous probability
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// to keep it a little while longer. this prevents hard activity changes and helping the transition and evaluation
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// to not jump between elevators/stairs and the floor and provide somewhat a smooother floorchange.
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// TODO: Put this into the Project and not in Indoor, since this class should only provide the probability of the
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// given activity! Since i had no time, this was the fastest solution for now.
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// if(highestValueIdx != 2){
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// for(int i = 0; i < densities.size(); ++i){
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// densities[i] *= densitiesOld[i];
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// }
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// }
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//normalize
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float densitySum = densities[0] + densities[1] + densities[2] + densities[3] + densities[4];
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for(int i = 0; i < densities.size(); ++i){
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densities[i] /= densitySum;
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//values cant be zero!
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densities[i] = (densities[i] > 0.0f ? densities[i] : 0.01f);
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}
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// densityElevatorDown /= densitySum;
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// densityStairsDown /= densitySum;
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// densityStay /= densitySum;
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// densityStairsUp /= densitySum;
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// densityElevatorUp /= densitySum;
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// if one value is 1.0 and all other are 0.0, fix that by providing a small possibility
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// densityElevatorDown = (densityElevatorDown > 0.0f ? densityElevatorDown : 0.01f);
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// densityStairsDown = (densityStairsDown > 0.0f ? densityStairsDown : 0.01f);
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// densityStay = (densityStay > 0.0f ? densityStay : 0.01f);
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// densityStairsUp = (densityStairsUp > 0.0f ? densityStairsUp : 0.01f);
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// densityElevatorUp = (densityElevatorUp > 0.0f ? densityElevatorUp : 0.01f);
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currentActivity = ActivityProbabilities(densities[0], densities[1], densities[2], densities[3], densities[4]);
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}
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//actHist.push_back(currentActivity);
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}
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//retruns for every call, indepedent of callback.
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return currentActivity;
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}
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/** get the current Activity */
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ActivityProbabilities getCurrentActivity() {
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return currentActivity;
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}
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std::vector<float> getSensorHistory(){
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std::vector<float> tmp;
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for(History val : input){
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tmp.push_back(val.data.hPa);
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}
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return tmp;
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}
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std::vector<float> getInterpolatedHistory(){
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std::vector<float> tmp;
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for(History val : inputInterp){
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tmp.push_back(val.data.hPa);
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}
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return tmp;
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}
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std::vector<float> getOutputHistory(){
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std::vector<float> tmp;
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for(History val : output){
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tmp.push_back(val.data.hPa);
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}
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return tmp;
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}
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std::vector<float> getSumHistory(){
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return sumHist;
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}
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std::vector<ActivityProbabilities> getActHistory(){
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return actHist;
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}
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};
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#endif // ACTIVITYBUTTERPRESSUREPERCENT_H
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