FHWS/Indoor
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geometry changes/fixes/new features

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new grid walkers + fixes
new test-cases
worked on step/and turn detection
android offline-data-reader
worked on vap-grouping
This commit is contained in:
FrankE
2016-09-07 10:16:51 +02:00
parent a203305628
commit d283d9b326
27 changed files with 976 additions and 333 deletions
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135
sensors/offline/OfflineAndroid.h
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@@ -4,11 +4,14 @@
#include <fstream>
#include <string>
#include "../../misc/Debug.h"
#include "../../Assertions.h"
#include "../../math/Interpolator.h"
#include "../../geo/Point3.h"
#include "../../data/Timestamp.h"
#include "../radio/WiFiMeasurements.h"
#include "../imu/AccelerometerData.h"
#include "../imu/GyroscopeData.h"
template <typename SensorData> struct OfflineEntry {
@@ -31,6 +34,15 @@ struct WalkedPath {
};
/** listener for event callbacks */
class OfflineAndroidListener {
public:
virtual void onGyroscope(const Timestamp ts, const GyroscopeData data) = 0;
virtual void onAccelerometer(const Timestamp ts, const AccelerometerData data) = 0;
virtual void onGravity(const Timestamp ts, const AccelerometerData data) = 0;
virtual void onWiFi(const Timestamp ts, const WiFiMeasurements data) = 0;
};
/** read recorded android sensor data files */
class OfflineAndroid {
@@ -39,13 +51,20 @@ private:
std::vector<OfflineEntry<WiFiMeasurements>> wifi;
std::vector<OfflineEntry<GroundTruthID>> groundTruth;
std::vector<OfflineEntry<GyroscopeData>> gyro;
std::vector<OfflineEntry<AccelerometerData>> accel;
std::vector<OfflineEntry<AccelerometerData>> gravity;
WalkedPath walkedPath;
const char* name = "OfflineData";
public:
/** ctor */
OfflineAndroid(const std::string& file) {
parse(file);
OfflineAndroid() {
;
}
/** get all ground truth readings */
@@ -54,6 +73,16 @@ public:
/** get all WiFi readings */
const std::vector<OfflineEntry<WiFiMeasurements>>& getWiFi() const {return wifi;}
/** get all gyroscope readings */
const std::vector<OfflineEntry<GyroscopeData>>& getGyroscope() const {return gyro;}
/** get all accelerometer readings */
const std::vector<OfflineEntry<AccelerometerData>>& getAccelerometer() const {return accel;}
/** get all gravity readings */
const std::vector<OfflineEntry<AccelerometerData>>& getGravity() const {return gravity;}
/** get the walked path */
const WalkedPath& getWalkedPath() const {return walkedPath;}
@@ -67,10 +96,12 @@ public:
return interpol;
}
public:
private:
void parse(const std::string& file, OfflineAndroidListener* listener = nullptr) {
void parse(const std::string& file) {
Log::add(name, "parsing data file: " + file , false);
Log::tick();
// open the stream
std::ifstream inp(file);
@@ -96,28 +127,64 @@ private:
if (delim == 0) {break;}
parse(Timestamp::fromMS(ts), sensorID, sensorData);
parse(Timestamp::fromMS(ts), sensorID, sensorData, listener);
}
Log::tock();
Log::add(name,
"gyro(" + std::to_string(gyro.size()) + ") " +
"accel(" + std::to_string(accel.size()) + ") "
"wifi(" + std::to_string(wifi.size()) + ") " +
"gt(" + std::to_string(groundTruth.size()) + ") "
);
}
private:
/** parse the given data */
void parse(const Timestamp ts, const int32_t sensorID, const std::string& sensorData) {
void parse(const Timestamp ts, const int32_t sensorID, const std::string& sensorData, OfflineAndroidListener* listener) {
// how to parse
switch(sensorID) {
case 0: {
const AccelerometerData data = parseAccelerometer(sensorData);
accel.push_back(OfflineEntry<AccelerometerData>(ts, data));
if (listener) {listener->onAccelerometer(ts, data);}
break;
}
case 1: {
const AccelerometerData data = parseAccelerometer(sensorData);
gravity.push_back(OfflineEntry<AccelerometerData>(ts, data));
if (listener) {listener->onGravity(ts, data);}
break;
}
case 3: {
const GyroscopeData data = parseGyroscope(sensorData);
gyro.push_back(OfflineEntry<GyroscopeData>(ts, data));
if (listener) {listener->onGyroscope(ts, data);}
break;
}
case 8: {
OfflineEntry<WiFiMeasurements> entry(ts, parseWiFi(sensorData));
wifi.push_back(entry);
const WiFiMeasurements data = parseWiFi(sensorData);
wifi.push_back(OfflineEntry<WiFiMeasurements>(ts, data));
if (listener) {listener->onWiFi(ts, data);}
break;
}
case 99: {
OfflineEntry<GroundTruthID> entry (ts, parseGroundTruthTick(sensorData));
groundTruth.push_back(entry);
const GroundTruthID data = parseGroundTruthTick(sensorData);
groundTruth.push_back(OfflineEntry<GroundTruthID>(ts, data));
// TODO listener
break;
}
case 100: {
walkedPath = parseWalkedPath(sensorData);
break;
@@ -138,16 +205,19 @@ private:
const std::string mac = data.substr(0, 17);
data = data.substr(17);
assert(data[0] == ';'); data = data.substr(1);
Assert::isTrue(data[0] == ';', "unexpected character");
data = data.substr(1);
const std::string freq = data.substr(0, 4);
data = data.substr(4);
assert(data[0] == ';'); data = data.substr(1);
Assert::isTrue(data[0] == ';', "unexpected character");
data = data.substr(1);
const int pos = data.find(';');
const std::string rssi = data.substr(0, pos);
data = data.substr(pos);
assert(data[0] == ';'); data = data.substr(1);
Assert::isTrue(data[0] == ';', "unexpected character");
data = data.substr(1);
const WiFiMeasurement e(mac, std::stof(rssi));
obs.entries.push_back(e);
@@ -158,6 +228,43 @@ private:
}
static inline GyroscopeData parseGyroscope(const std::string& data) {
const size_t pos1 = data.find(';', 0);
const size_t pos2 = data.find(';', pos1+1);
const size_t pos3 = data.find(';', pos2+1);
Assert::isTrue(pos1 != std::string::npos, "format error");
Assert::isTrue(pos2 != std::string::npos, "format error");
Assert::isTrue(pos3 != std::string::npos, "format error");
const std::string sx = data.substr(0, pos1);
const std::string sy = data.substr(pos1+1, pos2-pos1-1);
const std::string sz = data.substr(pos2+1, pos3-pos2-1);
return GyroscopeData(std::stof(sx), std::stof(sy), std::stof(sz));
}
static inline AccelerometerData parseAccelerometer(const std::string& data) {
const size_t pos1 = data.find(';', 0);
const size_t pos2 = data.find(';', pos1+1);
const size_t pos3 = data.find(';', pos2+1);
Assert::isTrue(pos1 != std::string::npos, "format error");
Assert::isTrue(pos2 != std::string::npos, "format error");
Assert::isTrue(pos3 != std::string::npos, "format error");
const std::string sx = data.substr(0, pos1);
const std::string sy = data.substr(pos1+1, pos2-pos1-1);
const std::string sz = data.substr(pos2+1, pos3-pos2-1);
return AccelerometerData(std::stof(sx), std::stof(sy), std::stof(sz));
}
/** parse the given GroundTruth entry */
static inline GroundTruthID parseGroundTruthTick(const std::string& data) {