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minor code changes for GFX
This commit is contained in:
FrankE
2017-05-02 17:01:21 +02:00
parent 8596732f43
commit 47def9ad90
7 changed files with 281 additions and 95 deletions
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23
EvalWifiOptResult.h
View File

@@ -50,17 +50,19 @@ public:
/** /**
* plot the error for every fingerprint * plot the error for every fingerprint
*/ */
template <typename Model> void showErrorPerFingerprint(const std::string& modelParamsXML, const WiFiFingerprints& fps) { template <typename Model> Plotty* showErrorPerFingerprint(const std::string& modelParamsXML, const WiFiFingerprints& fps) {
Plotty* plot = new Plotty(map); Plotty* plot = new Plotty(map);
plot->settings.obstacles = true; plot->settings.obstacles = true;
plot->settings.outline = false; plot->settings.outline = false;
plot->settings.stairs = false; plot->settings.stairs = false;
plot->settings.outlineColorCustom = true;
plot->settings.outlineColor = K::GnuplotColor::fromRGB(0,0,0); plot->settings.outlineColor = K::GnuplotColor::fromRGB(0,0,0);
plot->buildFloorplan(); plot->buildFloorplan();
plot->equalXY(); plot->equalXY();
//plot.gp << "unset border\n";
plot->gp << "unset border\n";
plot->splot.getAxisX().setTicsVisible(false); plot->splot.getAxisX().setTicsVisible(false);
plot->splot.getAxisY().setTicsVisible(false); plot->splot.getAxisY().setTicsVisible(false);
plot->splot.getAxisZ().setTicsVisible(false); plot->splot.getAxisZ().setTicsVisible(false);
@@ -109,6 +111,9 @@ public:
} }
// enqueue AVG error // enqueue AVG error
//errors.push_back(ErrPoint(fp.pos_m, errAbs.getAvg()));
// enqueue MAX error
errors.push_back(ErrPoint(fp.pos_m, errAbs.getMax())); errors.push_back(ErrPoint(fp.pos_m, errAbs.getMax()));
} }
@@ -117,7 +122,7 @@ public:
std::vector<ErrPoint> errorsInt; std::vector<ErrPoint> errorsInt;
K::Statistics<float> errStats; K::Statistics<float> errStats;
const float oz = 1.3; const float oz = 1.3;
const float ss = 1.5; const float ss = 4.0;
for (Floorplan::Floor* floor : map->floors) { for (Floorplan::Floor* floor : map->floors) {
@@ -175,22 +180,23 @@ public:
} }
const float minErr = 0.0;//errStats.getMin(); const float minErr = 0.0;//errStats.getMin();
const float maxErr = 18.0;//errStats.getQuantile(0.9); const float maxErr = 20.0;//errStats.getQuantile(0.9);
plot->splot.setTitle("max error: " + std::to_string(errStats.getQuantile(0.9)) + " dB"); //plot->splot.setTitle("max error: " + std::to_string(errStats.getMax()) + " dB");
// draw interpolated errors between min/max // draw interpolated errors between min/max
for (const ErrPoint& ep : errorsInt) { for (const ErrPoint& ep : errorsInt) {
float factor = (ep.err - minErr) / (maxErr-minErr); float factor = (ep.err - minErr) / (maxErr-minErr);
if (factor > 1) {factor = 1;} if (factor > 1) {factor = 1;}
if (factor < 0) {factor = 0;}
// hsv green->yellow->red // hsv green->yellow->red
// const float h = 90 * (1 - std::pow(factor, 1.0)); // const float h = 90 * (1 - std::pow(factor, 1.0));
// K::GnuplotColor color = K::GnuplotColor::fromHSV(h, 255, 255); // K::GnuplotColor color = K::GnuplotColor::fromHSV(h, 255, 255);
// hsv white->red // hsv white->red
const float sat = 255 * (std::pow(factor, 1.5)); const float sat = 255 * factor;
K::GnuplotColor color = K::GnuplotColor::fromHSV(0, sat, 255); K::GnuplotColor color = K::GnuplotColor::fromHSV(0, sat, 255);
K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon( K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon(
@@ -205,13 +211,16 @@ public:
poly->add(K::GnuplotCoordinate3(ep.pos.x+s, ep.pos.y+s, ep.pos.z-oz, K::GnuplotCoordinateSystem::FIRST)); poly->add(K::GnuplotCoordinate3(ep.pos.x+s, ep.pos.y+s, ep.pos.z-oz, K::GnuplotCoordinateSystem::FIRST));
poly->add(K::GnuplotCoordinate3(ep.pos.x-s, ep.pos.y+s, ep.pos.z-oz, K::GnuplotCoordinateSystem::FIRST)); poly->add(K::GnuplotCoordinate3(ep.pos.x-s, ep.pos.y+s, ep.pos.z-oz, K::GnuplotCoordinateSystem::FIRST));
poly->close(); poly->close();
poly->setZIndex(ep.pos.z); poly->setZIndex(ep.pos.z - 1.5);
plot->splot.getObjects().add(poly); plot->splot.getObjects().add(poly);
} }
plot->splot.getObjects().reOrderByZIndex();
plot->plot(); plot->plot();
return plot;
} }
}; };

12
bboxes.h
View File

@@ -39,6 +39,18 @@ BBoxes3 bboxes1H({floor1Ha, floor1Hb});
const BBox3 floor2Ha(Point3( 0.0, 0.0, 7.4), Point3(111.6, 50.7, 10.79)); const BBox3 floor2Ha(Point3( 0.0, 0.0, 7.4), Point3(111.6, 50.7, 10.79));
BBoxes3 bboxes2H({floor2Ha}); BBoxes3 bboxes2H({floor2Ha});
// floor 2 for plot
const BBox3 _floor2Ha(Point3( 0.0, 0.0, 7.4), Point3( 18.6, 31.3, 10.79));
const BBox3 _floor2Hb(Point3( 0.0, 31.3, 7.4), Point3( 77.5, 50.7, 10.79));
BBoxes3 _bboxes2H({_floor2Ha, _floor2Hb});
// floor 3 // floor 3
const BBox3 floor3Ha(Point3( 0.0, 0.0, 10.8), Point3(111.6, 50.7, 14.2)); const BBox3 floor3Ha(Point3( 0.0, 0.0, 10.8), Point3(111.6, 50.7, 14.2));
BBoxes3 bboxes3H({floor3Ha}); BBoxes3 bboxes3H({floor3Ha});
// floor 3 for plot
const BBox3 _floor3Ha(Point3( 0.0, 0.0, 10.8), Point3( 18.6, 31.3, 14.2));
const BBox3 _floor3Hb(Point3( 0.0, 31.3, 10.8), Point3( 77.5, 50.7, 14.2));
BBoxes3 _bboxes3H({_floor3Ha, _floor3Hb});

104
main.cpp
View File

@@ -392,10 +392,13 @@ void plotAllFingerprints(Floorplan::IndoorMap* map) {
const float size = fp.measurements.entries.size() / 10.0 * 1.0; const float size = fp.measurements.entries.size() / 10.0 * 1.0;
const Point3 pos = fp.pos_m - Point3(0,0,1.2); const Point3 pos = fp.pos_m - Point3(0,0,1.2);
Color c; Color c;
if (pos.z < 4) {c = Color::fromRGB(128,128,128);}
else if (pos.z < 6) {c = Color::fromRGB(255,96,96);} // if (pos.z < 4) {c = Color::fromRGB(128,128,128);}
else if (pos.z < 9) {c = Color::fromRGB(128,255,128);} // else if (pos.z < 6) {c = Color::fromRGB(255,96,96);}
else {c = Color::fromRGB(128,128,255);} // else if (pos.z < 9) {c = Color::fromRGB(128,255,128);}
// else {c = Color::fromRGB(128,128,255);}
c = Color::fromRGB(0,0,0);
K::GnuplotObjectPolygon* poly = p->addFloorRect(pos, size, c); K::GnuplotObjectPolygon* poly = p->addFloorRect(pos, size, c);
poly->setZIndex(pos.z + 0.1); // above the floor poly->setZIndex(pos.z + 0.1); // above the floor
@@ -620,9 +623,7 @@ void paperOutputs() {
} }
// perform varios AP-param optimizations // plot the configured bboxes
// generate error plot showing the performance of each
// save the resulting wifi-models to XML for later re-use during the walk-eval <<<<<< !!!!
if (1 == 0) { if (1 == 0) {
#include "bboxes.h" #include "bboxes.h"
@@ -632,26 +633,46 @@ void paperOutputs() {
pt.buildFloorplan(); pt.buildFloorplan();
// coloring // coloring
K::GnuplotColor cH = K::GnuplotColor::fromRGB(220,220,220); K::GnuplotColor cH0 = K::GnuplotColor::fromRGB(130,130,130);
K::GnuplotColor cH1 = K::GnuplotColor::fromRGB(170,170,170);
K::GnuplotColor cO = K::GnuplotColor::fromRGB(0,128,0); K::GnuplotColor cO = K::GnuplotColor::fromRGB(0,128,0);
K::GnuplotColor cI = K::GnuplotColor::fromRGB(190,190,190);
K::GnuplotColor cI0 = K::GnuplotColor::fromRGB(150,150,150);
K::GnuplotColor cI1 = K::GnuplotColor::fromRGB(190,190,190);
K::GnuplotColor cI2 = K::GnuplotColor::fromRGB(210,210,210);
K::GnuplotColor cI3 = K::GnuplotColor::fromRGB(230,230,230);
// floor 0 // floor 0
pt.addBBoxes(bboxes0H, cH); pt.addBBoxes(bboxes0H, cH0);
pt.addBBoxes(bboxes0O, cO); pt.addBBoxes(bboxes0O, cO);
pt.addBBoxes(bboxes0I, cI); pt.addBBoxes(bboxes0I, cI0);
// floor 1 // floor 1
pt.addBBoxes(bboxes1H, cH); pt.addBBoxes(bboxes1H, cH1);
pt.addBBoxes(bboxes1O, cO); pt.addBBoxes(bboxes1O, cO);
pt.addBBoxes(bboxes1I, cI); pt.addBBoxes(bboxes1I, cI1);
// floor 2 // floor 2
pt.addBBoxes(bboxes2H, cH); pt.addBBoxes(_bboxes2H, cI2);
// floor 3 // floor 3
pt.addBBoxes(bboxes3H, cH); pt.addBBoxes(_bboxes3H, cI3);
pt.splot.getObjects().reOrderByZIndex();
pt.plot();
pt.gp << "unset border\n";
pt.gp << "set view equal xy\n";
pt.splot.getView().setCamera(74, 30);
pt.splot.getView().setScaleAll(3.8);
pt.splot.getAxisZ().setRange(-8.000000,19.500000);
pt.splot.getAxisX().setTicsVisible(false);
pt.splot.getAxisY().setTicsVisible(false);
pt.splot.getAxisZ().setTicsVisible(false);
pt.gp.writePlotToFile(Settings::fPathGFX + "/model-bboxes.gp");
pt.gp.setTerminal("epslatex", K::GnuplotSize(8.3, 4.5));
pt.gp.setOutput(Settings::fPathGFX + "/model-bboxes.tex");
pt.plot(); pt.plot();
int i = 0; (void) i; int i = 0; (void) i;
@@ -673,7 +694,7 @@ void paperOutputs() {
// perform varios AP-param optimizations // perform varios AP-param optimizations
// generate error plot showing the performance of each // generate error plot showing the performance of each
// save the resulting wifi-models to XML for later re-use during the walk-eval <<<<<< !!!! // save the resulting wifi-models to XML for later re-use during the walk-eval <<<<<< !!!!
if (1 == 1) { if (1 == 0) {
rebuildAllModels(map, 0); rebuildAllModels(map, 0);
/** detailled error analysis for above optimization routine */ /** detailled error analysis for above optimization routine */
@@ -716,28 +737,53 @@ void paperOutputs() {
} }
/** plot wifi eval results */ /** plot wifi eval results */
if (1 == 0) { if (1 == 1) {
WiFiFingerprints fps; WiFiFingerprints fps;
fps.load(Settings::fCalib); fps.load(Settings::fCalib);
EvalWiFiOptResult eval1(Settings::fMap);
eval1.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos, fps);
EvalWiFiOptResult eval2(Settings::fMap); EvalWiFiOptResult eval2(Settings::fMap);
eval2.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiAllFixed, fps); Plotty* p1 = eval2.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiAllFixed, fps);
EvalWiFiOptResult eval1(Settings::fMap);
Plotty* p2 = eval1.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos, fps);
// advanced model [1 model per floor] // advanced model [1 model per floor]
EvalWiFiOptResult evalfloor(Settings::fMap); //EvalWiFiOptResult evalfloor(Settings::fMap);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only0th, fps); //evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only0th, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only1st, fps); //evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only1st, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only2nd, fps); //evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only2nd, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only3rd, fps); //evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only3rd, fps);
evalfloor.showErrorPerFingerprint<WiFiModelPerFloor>(Settings::wifiEachOptParPos_multimodel, fps); //evalfloor.showErrorPerFingerprint<WiFiModelPerFloor>(Settings::wifiEachOptParPos_multimodel, fps);
// more advanved model [1 model per bbox-region] // more advanved model [1 model per bbox-region]
EvalWiFiOptResult evalBBox(Settings::fMap); EvalWiFiOptResult evalBBox(Settings::fMap);
evalBBox.showErrorPerFingerprint<WiFiModelPerBBox>(Settings::wifiEachOptParPos_perBBox, fps); Plotty* p3 = evalBBox.showErrorPerFingerprint<WiFiModelPerBBox>(Settings::wifiEachOptParPos_perBBox, fps);
K::GnuplotSize size(3.75, 2.8);
const float s = 4.6;
auto adjust = [&] (Plotty* pp) {
pp->gp.setTerminal("epslatex", size);
pp->splot.setTitle("");
pp->splot.getView().setCamera(74, 30);
pp->splot.getView().setScaleAll(s);
pp->splot.getAxisZ().setRange(K::GnuplotAxis::Range(-3, 15.5));
pp->plot();
};
p1->gp.writePlotToFile(Settings::fPathGFX + "wifiMaxErrorNN_opt0.gp");
p1->gp.setOutput(Settings::fPathGFX + "wifiMaxErrorNN_opt0.tex");
adjust(p1);
p2->gp.writePlotToFile(Settings::fPathGFX + "wifiMaxErrorNN_opt3.gp");
p2->gp.setOutput(Settings::fPathGFX + "wifiMaxErrorNN_opt3.tex");
adjust(p2);
p3->gp.writePlotToFile(Settings::fPathGFX + "wifiMaxErrorNN_opt5.gp");
p3->gp.setOutput(Settings::fPathGFX + "wifiMaxErrorNN_opt5.tex");
adjust(p3);
int i = 0; (void) i; int i = 0; (void) i;
@@ -902,7 +948,7 @@ int main(void) {
//const float rssi = LogDistanceModel::distanceToRssi(-100, 0, 999); //const float rssi = LogDistanceModel::distanceToRssi(-100, 0, 999);
//int i = 0; (void) i; //int i = 0; (void) i;
//paperOutputs(); return 0; paperOutputs(); return 0;
//showFingerprintsFor(Settings::fMap, Settings::fCalib, "D8:84:66:4A:4A:D0"); //showFingerprintsFor(Settings::fMap, Settings::fCalib, "D8:84:66:4A:4A:D0");
//showModelFor(Settings::fMap, Settings::wifiEachOptParPos_multimodel, "D8:84:66:4A:4A:D0"); //showModelFor(Settings::fMap, Settings::wifiEachOptParPos_multimodel, "D8:84:66:4A:4A:D0");

1
pf/EvalWalk.h
View File

@@ -337,6 +337,7 @@ public:
pefAll->writePlotToFile(Settings::fPathGFX + "/overall-system-error.gp"); pefAll->writePlotToFile(Settings::fPathGFX + "/overall-system-error.gp");
pefAll->getPlot().getMargin().set(4, 0.2, 0.1, 1.8); pefAll->getPlot().getMargin().set(4, 0.2, 0.1, 1.8);
pefAll->getPlot().setStringMod(new K::GnuplotStringModLaTeX()); pefAll->getPlot().setStringMod(new K::GnuplotStringModLaTeX());
pefAll->getPlot().getKey().setVisible(true); pefAll->getPlot().getKey().setVisible(true);
pefAll->getPlot().getKey().setPosition(K::GnuplotKey::Hor::RIGHT, K::GnuplotKey::Ver::BOTTOM); pefAll->getPlot().getKey().setPosition(K::GnuplotKey::Hor::RIGHT, K::GnuplotKey::Ver::BOTTOM);
pefAll->getPlot().getKey().setWidthIncrement(7); pefAll->getPlot().getKey().setWidthIncrement(7);

100
plots/Plotty.h
View File

@@ -118,6 +118,7 @@ public:
bool stairs = true; bool stairs = true;
bool obstacles = true; bool obstacles = true;
bool outline = true; bool outline = true;
bool outlineColorCustom = false;
K::GnuplotColor outlineColor = K::GnuplotColor::fromRGB(128,128,128); K::GnuplotColor outlineColor = K::GnuplotColor::fromRGB(128,128,128);
float minZ = -9999; float minZ = -9999;
float maxZ = +9999; float maxZ = +9999;
@@ -168,34 +169,89 @@ public:
} }
void addBBoxes(const BBoxes3& boxes, const K::GnuplotColor& c) { void addBBoxes(const BBoxes3& boxes, const K::GnuplotColor& c) {
for (const BBox3& bb : boxes.get()) { for (BBox3 bb : boxes.get()) {
addBBoxPoly(bb, c); //&&addBBoxPoly(bb, c);
//bb.shrink(0.98);
addBBoxPoly2(bb, c);
} }
} }
void addBBoxPoly2(const BBox3& bb, const K::GnuplotColor& color) {
K::GnuplotFill filler = K::GnuplotFill(K::GnuplotFillStyle::SOLID, color);
K::GnuplotStroke stroke(K::GnuplotDashtype::NONE, 1, color);
K::GnuplotObjectPolygon* gpol1 = new K::GnuplotObjectPolygon(filler, stroke);
gpol1->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol1->close();
gpol1->setZIndex(bb.getMin().z - 0.1);
splot.getObjects().add(gpol1);
K::GnuplotColor color2 = K::GnuplotColor::fromRGB(128,128,128);
K::GnuplotStroke stroke2(K::GnuplotDashtype::NONE, 1, color2);
K::GnuplotFill noFiller = K::GnuplotFill(K::GnuplotFillStyle::EMPTY_BORDER, color2);
K::GnuplotObjectPolygon* gpol2 = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol2->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol2->close();
gpol2->setZIndex(bb.getMin().z + 3.1);
splot.getObjects().add(gpol2);
K::GnuplotObjectPolygon* gpol3a = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3a->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3a->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3a->setZIndex(bb.getMin().z + 1.1);
splot.getObjects().add(gpol3a);
K::GnuplotObjectPolygon* gpol3b = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3b->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3b->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMin().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3b->setZIndex(bb.getMin().z + 1.1);
splot.getObjects().add(gpol3b);
K::GnuplotObjectPolygon* gpol3c = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3c->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3c->add(K::GnuplotCoordinate3(bb.getMin().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3c->setZIndex(bb.getMin().z + 1.1);
splot.getObjects().add(gpol3c);
K::GnuplotObjectPolygon* gpol3d = new K::GnuplotObjectPolygon(noFiller, stroke2);
gpol3d->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMin().z, K::GnuplotCoordinateSystem::FIRST));
gpol3d->add(K::GnuplotCoordinate3(bb.getMax().x, bb.getMax().y, bb.getMax().z-2, K::GnuplotCoordinateSystem::FIRST));
gpol3d->setZIndex(bb.getMin().z + 1.1);
splot.getObjects().add(gpol3d);
}
void addBBox(const BBox3& bb) { void addBBox(const BBox3& bb) {
// floor
mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.add({bb.getMax().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.add({bb.getMax().x, bb.getMax().y, bb.getMin().z});
mapBBoxes.add({bb.getMin().x, bb.getMax().y, bb.getMin().z});
mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.splitFace(); mapBBoxes.splitFace();
// ceil // // floor
mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMax().z}); // mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.add({bb.getMax().x, bb.getMin().y, bb.getMax().z}); // mapBBoxes.add({bb.getMax().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.add({bb.getMax().x, bb.getMax().y, bb.getMax().z}); // mapBBoxes.add({bb.getMax().x, bb.getMax().y, bb.getMin().z});
mapBBoxes.add({bb.getMin().x, bb.getMax().y, bb.getMax().z}); // mapBBoxes.add({bb.getMin().x, bb.getMax().y, bb.getMin().z});
mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMax().z}); // mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMin().z});
mapBBoxes.splitFace(); mapBBoxes.splitFace(); // mapBBoxes.splitFace(); mapBBoxes.splitFace();
// up // // ceil
mapBBoxes.addSegment({bb.getMin().x, bb.getMin().y, bb.getMin().z}, {bb.getMin().x, bb.getMin().y, bb.getMax().z}); // mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMax().z});
mapBBoxes.addSegment({bb.getMax().x, bb.getMin().y, bb.getMin().z}, {bb.getMax().x, bb.getMin().y, bb.getMax().z}); // mapBBoxes.add({bb.getMax().x, bb.getMin().y, bb.getMax().z});
mapBBoxes.addSegment({bb.getMin().x, bb.getMax().y, bb.getMin().z}, {bb.getMin().x, bb.getMax().y, bb.getMax().z}); // mapBBoxes.add({bb.getMax().x, bb.getMax().y, bb.getMax().z});
mapBBoxes.addSegment({bb.getMax().x, bb.getMax().y, bb.getMin().z}, {bb.getMax().x, bb.getMax().y, bb.getMax().z}); // mapBBoxes.add({bb.getMin().x, bb.getMax().y, bb.getMax().z});
// mapBBoxes.add({bb.getMin().x, bb.getMin().y, bb.getMax().z});
// mapBBoxes.splitFace(); mapBBoxes.splitFace();
// // up
// mapBBoxes.addSegment({bb.getMin().x, bb.getMin().y, bb.getMin().z}, {bb.getMin().x, bb.getMin().y, bb.getMax().z});
// mapBBoxes.addSegment({bb.getMax().x, bb.getMin().y, bb.getMin().z}, {bb.getMax().x, bb.getMin().y, bb.getMax().z});
// mapBBoxes.addSegment({bb.getMin().x, bb.getMax().y, bb.getMin().z}, {bb.getMin().x, bb.getMax().y, bb.getMax().z});
// mapBBoxes.addSegment({bb.getMax().x, bb.getMax().y, bb.getMin().z}, {bb.getMax().x, bb.getMax().y, bb.getMax().z});
} }
@@ -492,7 +548,7 @@ public:
const float v = 140 + vo; const float v = 140 + vo;
// drawing outlines as polygon is a hack for correct depth-order in gnuplot // drawing outlines as polygon is a hack for correct depth-order in gnuplot
K::GnuplotColor color = K::GnuplotColor::fromRGB(v,v,v); K::GnuplotColor color = (settings.outlineColorCustom) ? (settings.outlineColor) : (K::GnuplotColor::fromRGB(v,v,v));
K::GnuplotFill filler = K::GnuplotFill(K::GnuplotFillStyle::EMPTY_BORDER, color); K::GnuplotFill filler = K::GnuplotFill(K::GnuplotFillStyle::EMPTY_BORDER, color);
K::GnuplotStroke stroke(K::GnuplotDashtype::NONE, 1, color); K::GnuplotStroke stroke(K::GnuplotDashtype::NONE, 1, color);
//K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(K::GnuplotFill::NONE(), stroke); //K::GnuplotObjectPolygon* gpol = new K::GnuplotObjectPolygon(K::GnuplotFill::NONE(), stroke);

132
tex/chapters/experiments.tex
View File

@@ -4,12 +4,12 @@
All optimizations and evaluations took place within two adjacent buildings (4 and 2 floors, respectively) All optimizations and evaluations took place within two adjacent buildings (4 and 2 floors, respectively)
and two connected outdoor regions (entrance and inner courtyard), and two connected outdoor regions (entrance and inner courtyard),
yielding a total size of \SI{110}{\meter} x \SI{60}{\meter}. \SI{110}{\meter} x \SI{60}{\meter} in size.
Within all \docWIFI{} observations we only consider the \docAP{}s that are permanently installed, Within all \docWIFI{} observations we only consider the \docAP{}s that are permanently installed,
and can be identified by their well-known MAC address. and can be identified by their well-known MAC address.
Temporal and movable transmitters are ignored as they might cause estimation errors. Temporal and movable transmitters like smart TVs or smartphone hotspots are ignored as they might cause estimation errors.
%
Unfortunately, due to non-disclosure agreements, we are not allowed to depict the actual location Unfortunately, due to non-disclosure agreements, we are not allowed to depict the actual location
of installed transmitters within the following figures. of installed transmitters within the following figures.
@@ -28,37 +28,58 @@
\subsection{Model optimization} \subsection{Model optimization}
As the signal strength prediction model is the heart of the absolute positioning component As the signal strength prediction model is the core of the absolute positioning component
described in \ref{sec:system} we start with the model parameter estimation (see \ref{sec:optimization}) for described in section \ref{sec:system}, we start with the model parameter estimation (see \ref{sec:optimization}) for
\mTXP, \mPLE and \mWAF based on some reference measurements and compare the results \mTXP{}, \mPLE{} and \mWAF{} based on some reference measurements and compare the results
between various optimization strategies and a basic empiric choice of \mTXP = \SI{-40}{\decibel{}m} @ \SI{1}{\meter} between various optimization strategies and a basic empiric choice of \mTXP{} = \SI{-40}{\decibel{}m} @ \SI{1}{\meter}
(defined by the usual \docAPshort{} transmit power for europe), a path loss exponent $\mPLE \approx $ \SI{2.5} and (defined by the usual \docAPshort{} transmit power for europe), a path loss exponent $\mPLE{} \approx $ \SI{2.5} and
$\mWAF \approx$ \SI{-8}{\decibel} per floor/ceiling (made of reinforced concrete) \todo{cite für werte}. $\mWAF{} \approx$ \SI{-8}{\decibel} per floor / ceiling (made of reinforced concrete) \todo{cite für werte}.
Figure \ref{fig:referenceMeasurements} depicts the location of the used 121 reference measurements. Figure \ref{fig:referenceMeasurements} depicts the location of the used 121 reference measurements.
Each location was scanned 30 times ($\approx$ \SI{25}{\second} scan time), Each location was scanned 30 times ($\approx$ \SI{25}{\second} scan time),
non permanent \docAP{}s were removed, the values were grouped per physical transmitter (see \ref{sec:vap}) non permanent \docAP{}s were removed, the values were grouped per physical transmitter (see \ref{sec:vap})
and aggregated to form the average signal strength per transmitter. and aggregated to form the average signal strength per transmitter.
% used reference measurements
\begin{figure} \begin{figure}
{ \begin{subfigure}[t!]{0.48\textwidth}
\centering \input{gfx2/all_fingerprints.tex}
\input{gfx/all_fingerprints.tex} \caption{
} The size of each square denotes the number of permanently installed \docAPshort{}s
\caption{ that were visible while scanning, and ranges between 2 and 22 with an average of 9.
Locations of the 121 reference measurements. }
The size of each square denotes the number of permanently installed \docAPshort{}s \label{fig:referenceMeasurements}
that are visible at this location, \end{subfigure}
and ranges between 2 and 22 with an average of 9. \enskip\enskip
} \begin{subfigure}[t!]{0.48\textwidth}
\label{fig:referenceMeasurements} \input{gfx2/model-bboxes.tex}
\caption{
More than one bounding box is needed for each model to approximate the building's shape.
Each distinct floor-color denotes a single model (7 in total).
}
\label{fig:modelBBoxes}
\end{subfigure}
\caption{Locations of the 121 reference measurements (left) and bounding-boxes used for {\em \optPerRegion{}} (right).}
\end{figure} \end{figure}
% used reference measurements
%\begin{figure}
% {
% \centering
% \input{gfx/all_fingerprints.tex}
% }
% \caption{
% Locations of the 121 reference measurements.
% The size of each square denotes the number of permanently installed \docAPshort{}s
% that are visible at this location,
% and ranges between 2 and 22 with an average of 9.
% }
% \label{fig:referenceMeasurements}
%\end{figure}
% visible APs: % visible APs:
% cnt(121) min(2.000000) max(22.000000) range(20.000000) med(8.000000) avg(9.322314) stdDev(4.386709) % cnt(121) min(2.000000) max(22.000000) range(20.000000) med(8.000000) avg(9.322314) stdDev(4.386709)
\begin{figure}[b] \begin{figure}
\centering \centering
\input{gfx/compare-wifi-in-out.tex} \input{gfx/compare-wifi-in-out.tex}
\caption{ \caption{
@@ -83,7 +104,7 @@
with its position, which is well known from the floorplan. with its position, which is well known from the floorplan.
{\em\optParamsAllAP{}} is the same as above, except that the three parameters are optimized {\em\optParamsAllAP{}} is the same as above, except that the three parameters are optimized
using the reference measurements. using the reference measurements. However, all transmitters share the same three parameters.
{\em\optParamsEachAP{}} optimizes the three parameters per \docAP{} instead of using the same {\em\optParamsEachAP{}} optimizes the three parameters per \docAP{} instead of using the same
parameters for all. parameters for all.
@@ -93,8 +114,7 @@
{\em\optPerFloor{}} and {\em\optPerRegion{}} are just like \optParamsPosEachAP{} except that {\em\optPerFloor{}} and {\em\optPerRegion{}} are just like \optParamsPosEachAP{} except that
there are several sub-models that are optimized for one floor / region instead of the whole building. there are several sub-models that are optimized for one floor / region instead of the whole building.
The chosen bounding boxes and resulting sub-models are depicted in figure \ref{fig:modelBBoxes}.
\todo{grafik, die die regionen zeigt???}
Figure \ref{fig:wifiModelError} shows the optimization results for all strategies, which are as expected: Figure \ref{fig:wifiModelError} shows the optimization results for all strategies, which are as expected:
The estimation error is indirectly proportional to the number of optimized parameters. The estimation error is indirectly proportional to the number of optimized parameters.
@@ -108,15 +128,40 @@
For \SI{68}{\percent} of all installed transmitters, the estimated floor-number matched the real location. For \SI{68}{\percent} of all installed transmitters, the estimated floor-number matched the real location.
\begin{figure} \begin{figure}
\input{gfx/wifi_model_error_0_95.tex} \begin{subfigure}{0.52\textwidth}
%\input{gfx/wifi_model_error_95_100.tex} \input{gfx2/wifi_model_error_0_95.tex}
\end{subfigure}
\begin{subfigure}{0.23\textwidth}
\input{gfx/wifiMaxErrorNN_opt0.tex}
\caption{\em \noOptEmpiric{}}
\end{subfigure}
%\begin{subfigure}{0.25\textwidth}
% \input{gfx/wifiMaxErrorNN_opt3.tex}
%\end{subfigure}
\begin{subfigure}{0.23\textwidth}
\input{gfx/wifiMaxErrorNN_opt5.tex}
\caption{\em \optPerRegion{}}
\end{subfigure}
\caption{ \caption{
Comparison between different optimization strategies by examining the error (in \decibel) at each reference measurement. Comparison between different optimization strategies by examining the error (in \decibel) at each reference measurement.
The higher the number of variable parameters, the better the model resembles real world conditions. The higher the number of variable parameters, the better the model resembles real world conditions.
Both figures on the right depict the highest error for each reference measurement, where full red means $\ge$ \SI{20}{\decibel}.
} }
\label{fig:wifiModelError} \label{fig:wifiModelError}
\end{figure} \end{figure}
%\begin{figure}
% \input{gfx/wifi_model_error_0_95.tex}
% %\input{gfx/wifi_model_error_95_100.tex}
% \caption{
% Comparison between different optimization strategies by examining the error (in \decibel) at each reference measurement.
% The higher the number of variable parameters, the better the model resembles real world conditions.
% }
% \label{fig:wifiModelError}
%\end{figure}
% statds: % statds:
%TXP: cnt(34) min(-67.698959) max(4.299183) range(71.998146) med(-41.961170) avg(-41.659286) stdDev(17.742294) %TXP: cnt(34) min(-67.698959) max(4.299183) range(71.998146) med(-41.961170) avg(-41.659286) stdDev(17.742294)
%EXP: cnt(34) min(0.932817) max(4.699000) range(3.766183) med(2.380410) avg(2.546959) stdDev(1.074687) %EXP: cnt(34) min(0.932817) max(4.699000) range(3.766183) med(2.380410) avg(2.546959) stdDev(1.074687)
@@ -149,17 +194,34 @@
(average \SIrange{2.0}{6.2}{\decibel}), as it needs at least a certain number of measurements for each (average \SIrange{2.0}{6.2}{\decibel}), as it needs at least a certain number of measurements for each
of its regions for the optimization to converge. of its regions for the optimization to converge.
\begin{figure}[b] \begin{figure}
\input{gfx/wifi_model_error_num_fingerprints_method_5_0_90.tex} \begin{subfigure}{0.49\textwidth}
\input{gfx/wifi_model_error_num_fingerprints_method_5_90_100.tex} \input{gfx2/wifi_model_error_num_fingerprints_method_5_0_90.tex}
\caption{% \end{subfigure}
Impact of reducing the number of reference measurements during optimization on {\em \optPerRegion{}}. \begin{subfigure}{0.49\textwidth}
The model's cumulative error distribution is determined by comparing the its signal strength prediction against all 121 measurements. \input{gfx2/wifi_model_error_num_fingerprints_method_5_90_100.tex}
\end{subfigure}
\caption{
Impact of reducing the number of reference measurements for optimizing {\em \optPerRegion{}}.
The cumulative error distribution is determined by comparing its signal strength prediction against all 121 measurements.
While using only \SI{50}{\percent} of the 121 scans has barely an impact on the error, While using only \SI{50}{\percent} of the 121 scans has barely an impact on the error,
30 measurements (\SI{25}{\percent}) are clearly insufficient. 30 measurements (\SI{25}{\percent}) are clearly insufficient.
}% }
\label{fig:wifiNumFingerprints}% \label{fig:wifiNumFingerprints}
\end{figure} \end{figure}
%\begin{figure}[b]
% \input{gfx/wifi_model_error_num_fingerprints_method_5_0_90.tex}
% \input{gfx/wifi_model_error_num_fingerprints_method_5_90_100.tex}
% \caption{%
% Impact of reducing the number of reference measurements during optimization on {\em \optPerRegion{}}.
% The model's cumulative error distribution is determined by comparing the its signal strength prediction against all 121 measurements.
% While using only \SI{50}{\percent} of the 121 scans has barely an impact on the error,
% 30 measurements (\SI{25}{\percent}) are clearly insufficient.
% }%
% \label{fig:wifiNumFingerprints}%
%\end{figure}
Figure \ref{fig:wifiNumFingerprints} depicts the impact of reducing the number of reference measurements Figure \ref{fig:wifiNumFingerprints} depicts the impact of reducing the number of reference measurements
during the optimization process for the {\em \optPerRegion{}} strategy. during the optimization process for the {\em \optPerRegion{}} strategy.

4
tex/chapters/work.tex
View File

@@ -147,7 +147,7 @@
\centering \centering
\begin{subfigure}{0.48\textwidth} \begin{subfigure}{0.48\textwidth}
%\centering %\centering
\input{gfx/wifiop_show_optfunc_params} \input{gfx2/wifiop_show_optfunc_params}
\caption{ \caption{
Modifying \docTXP{} \mTXP{} and \docEXP{} \mPLE{} Modifying \docTXP{} \mTXP{} and \docEXP{} \mPLE{}
[known position $\mPosAPVec{}$, fixed \mWAF{}] denotes a convex function. [known position $\mPosAPVec{}$, fixed \mWAF{}] denotes a convex function.
@@ -157,7 +157,7 @@
\enskip\enskip \enskip\enskip
\begin{subfigure}{0.48\textwidth} \begin{subfigure}{0.48\textwidth}
%\centering %\centering
\input{gfx/wifiop_show_optfunc_pos_yz} \input{gfx2/wifiop_show_optfunc_pos_yz}
\caption{ \caption{
Modifying $y$- and $z$-position [fixed $x$, \mTXP{}, \mPLE{} and \mWAF{}] Modifying $y$- and $z$-position [fixed $x$, \mTXP{}, \mPLE{} and \mWAF{}]
denotes a non-convex function with multiple local minima. denotes a non-convex function with multiple local minima.