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code that runs the final eval

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TeX update
This commit is contained in:
FrankE
2017-05-01 18:44:07 +02:00
parent 60712689cf
commit 92f7cfb530
10 changed files with 379 additions and 155 deletions
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136
pf/EvalWalk.h
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@@ -45,7 +45,7 @@
#include <Indoor/sensors/offline/Listener.h>
#define PLOT_LIVE
//#define PLOT_LIVE
//#define PLOT_WIFI
//#define PLOT_ERROR_TIME
//#define PLOT_ERROR_FUNC
@@ -60,10 +60,21 @@ class EvalWalk : public Offline::Listener {
std::string runName;
#ifdef PLOT_LIVE
Plotty plotty;
#endif
#ifdef PLOT_WIFI
PlotWifiMeasurements plotWifi;
#endif
#ifdef PLOT_ERROR_TIME
PlotErrTime pet;
#endif
#ifdef PLOT_ERROR_FUNC
PlotErrFunc pef;
#endif
Offline::FileReader reader;
Offline::FilePlayer player;
@@ -91,15 +102,34 @@ class EvalWalk : public Offline::Listener {
public:
EvalWalk(Floorplan::IndoorMap* map) : plotty(map), map(map), em(map),
pet("\\small{time (sec)}", "\\small{error (m)}", "\\small{APs visible}"),
pef("\\small{error (m)}", "\\small{updates (\\%)}") {
~EvalWalk() {
delete grid;
delete pf;
}
EvalWalk(Floorplan::IndoorMap* map) :
#ifdef PLOT_LIVE
plotty(map),
#endif
map(map), em(map)
#ifdef PLOT_ERROR_TIME
,pet("\\small{time (sec)}", "\\small{error (m)}", "\\small{APs visible}")
#endif
#ifdef PLOT_ERROR_FUNC
,pef("\\small{error (m)}", "\\small{updates (\\%)}")
#endif
{
const std::string saveFile = Settings::pathData + "/grid.dat";
grid = new Grid<MyGridNode>(Settings::Grid::gridSize_cm);
// once
plotty.buildFloorplan();
#ifdef PLOT_LIVE
// once
plotty.buildFloorplan();
#endif
// deserialize grid
std::ifstream inp(saveFile, std::ofstream::binary);
@@ -173,12 +203,13 @@ public:
struct LeModel {
std::string name;
std::string plotKey;
WiFiModel* model;
LeModel(const std::string& name, WiFiModel* model) : name(name), model(model) {;}
LeModel(const std::string& name, const std::string& plotKey, WiFiModel* model) : name(name), plotKey(plotKey), model(model) {;}
};
static void serialize(const K::Statistics<float>& stats, const LeWalk& walk, const LeModel& model, const int idx) {
const std::string file = Settings::fPathGFX + "/walks/data/" + walk.name + "_" + model.name + "_" + std::to_string(idx) + ".txt";
const std::string file = Settings::fPathGFX + "/walks/data/" + model.name + "/" + walk.name + "_" + model.name + "_" + std::to_string(idx) + ".txt";
std::ofstream out(file);
for (const float f : stats.getAll()) {
out << f << "\n";
@@ -187,7 +218,7 @@ public:
}
static K::Statistics<float>* deserialize(const LeWalk& walk, const LeModel& model, const int idx) {
const std::string file = Settings::fPathGFX + "/walks/data/" + walk.name + "_" + model.name + "_" + std::to_string(idx) + ".txt";
const std::string file = Settings::fPathGFX + "/walks/data/" + model.name + "/" + walk.name + "_" + model.name + "_" + std::to_string(idx) + ".txt";
K::Statistics<float>* res = new K::Statistics<float>();
std::ifstream inp(file);
while(inp) {
@@ -221,16 +252,16 @@ public:
static std::vector<LeModel> allModels(Floorplan::IndoorMap* map) {
WiFiModelFactory fac(map);
return {
//LeModel("empiric", fac.loadXML(Settings::wifiAllFixed)),
//LeModel("opt 1", fac.loadXML(Settings::wifiAllOptPar)),
//LeModel("opt 2", fac.loadXML(Settings::wifiEachOptPar)),
//LeModel("opt 3", fac.loadXML(Settings::wifiEachOptParPos)),
//LeModel("per floor", fac.loadXML(Settings::wifiEachOptParPos_multimodel)),
LeModel("per bbox", fac.loadXML(Settings::wifiEachOptParPos_perBBox)),
LeModel("empiric", "\\noOptEmpiric{}", fac.loadXML(Settings::wifiAllFixed)),
LeModel("opt 1", "\\optParamsAllAP{}", fac.loadXML(Settings::wifiAllOptPar)),
LeModel("opt 2", "\\optParamsEachAP{}", fac.loadXML(Settings::wifiEachOptPar)),
LeModel("opt 3", "\\optParamsPosEachAP{}", fac.loadXML(Settings::wifiEachOptParPos)),
LeModel("per floor", "\\optPerFloor{}", fac.loadXML(Settings::wifiEachOptParPos_multimodel)),
LeModel("per bbox", "\\optPerRegion{}", fac.loadXML(Settings::wifiEachOptParPos_perBBox)),
};
}
static constexpr int numRepeats = 1;
static constexpr int numRepeats = 25;
/** create GFX for all previously walked parts */
static void walkEverythingBuildStats(Floorplan::IndoorMap* map) {
@@ -239,8 +270,10 @@ public:
const std::vector<LeModel> models = allModels(map);
PlotErrFunc* pefAll = new PlotErrFunc();
int numStuck = 0;
int numTotal = 0;
pefAll->setYRange(0, 90, 5);
pefAll->getPlot().getAxisY().setRange(0, 90);
pefAll->getPlot().getAxisY().setTicsStep({0, 25, 50, 75, 90});
pefAll->getPlot().getAxisX().setRange(0, 15);
for (const LeModel& mdl : models) {
@@ -248,34 +281,71 @@ public:
K::Statistics<float>* modelStatsMed = new K::Statistics<float>();
K::Statistics<float>* modelStatsSingle = new K::Statistics<float>();
pefAll->add(mdl.name, modelStatsSingle);
pefAll->add(mdl.plotKey, modelStatsSingle);
int numStuck = 0;
int numTotal = 0;
std::cout << "model " << mdl.name << std::endl;
// ... to perform every walk...
for (const LeWalk& walk : walks) {
for (int i = 0; i < numRepeats; ++i) {
int numStuckWalk = 0;
int numTotalWalk = 0;
// stats for all runs of one walk
K::Statistics<float> walkStatsAvg;
for (int i = 0; i < 75; ++i) {
++numTotal;
++numTotalWalk;
K::Statistics<float>* walkStats = deserialize(walk, mdl, i);
if (walkStats->getMedian() < 10) {
modelStatsSingle->add(*walkStats);
pefAll->plot();
//if (walkStats->getMedian() < 15) {
if (walkStats->getQuantile(0.75) < 20) {
//modelStatsSingle->add(*walkStats);
} else {
++numStuck;
++numStuckWalk;
}
modelStatsSingle->add(*walkStats);
walkStatsAvg.add(*walkStats);
}
if (modelStatsSingle->getCount() > 0) {
pefAll->plot();
}
std::cout << "|" << walk.name << "(" << walkStatsAvg.getMedian() << "@" << (numStuckWalk*100/numTotalWalk) << "%)\t";
}
std::cout << " | OVERALL:" << "(" << modelStatsSingle->getMedian() << "@" << (numStuck*100/numTotal) << "%)" << std::endl;
sleep(1);
}
std::cout << "stuck: " << numStuck << " (" << (numStuck*100/numTotal) << "%)" << std::endl;
pefAll->getGP().setTerminal("epslatex", K::GnuplotSize(8.6, 3.7));
pefAll->getGP().setOutput(Settings::fPathGFX + "/overall-system-error.tex");
pefAll->writePlotToFile(Settings::fPathGFX + "/overall-system-error.gp");
pefAll->getPlot().getMargin().set(4, 0.2, 0.1, 1.8);
pefAll->getPlot().setStringMod(new K::GnuplotStringModLaTeX());
pefAll->getPlot().getKey().setVisible(true);
pefAll->getPlot().getKey().setPosition(K::GnuplotKey::Hor::RIGHT, K::GnuplotKey::Ver::BOTTOM);
pefAll->getPlot().getKey().setWidthIncrement(7);
pefAll->getPlot().getAxisX().setTicsLabelFormat("%h m");
pefAll->getPlot().getAxisX().setRange(0, 22);
pefAll->getPlot().getAxisX().setLabel("");
pefAll->getPlot().getAxisY().setLabel("filter updates (%)");
pefAll->getPlot().getAxisY().setLabelOffset(3.0, 0);
pefAll->plot();
sleep(100);
@@ -303,7 +373,8 @@ public:
//K::Statistics<float> curWalkRepeatStatsMed;
// ... several times
for (int i = 0; i < numRepeats; ++i) {
//#pragma omp parallel for num_threads(2)
for (int i = numRepeats*2; i < numRepeats*3; ++i) {
EvalWalk ew(map);
ew.walkName = walk.name + " - " + mdl.name + " - " + std::to_string(i);
@@ -530,6 +601,7 @@ private:
std::string path = Settings::fPathGFX;
std::string base = path + "/walks/" + "walk-" + walkName;
#ifdef PLOT_LIVE
plotty.gp << "unset arrow 1\n";
plotty.gp << "unset arrow 2\n";
plotty.gp << "unset colorbox\n";
@@ -546,18 +618,23 @@ private:
plotty.gp.setOutput(base + "-map.tex");
plotty.writeCodeTo(base + "-map.gp");
plotty.plot();
#endif
#ifdef PLOT_ERROR_FUNC
pef.getPlot().getMargin().set(4, 0.2, 0.1, 2.0);
pef.getGP().setTerminal("epslatex", K::GnuplotSize(8.6, 3.0));
pef.getGP().setOutput(base + "-error-cum.tex");
pef.writePlotToFile(base + "-error-cum.gp");
pef.plot();
#endif
#ifdef PLOT_ERROR_TIME
pet.getPlot().getMargin().set(4, 0.2, 0.1, 2.0);
pet.getGP().setTerminal("epslatex", K::GnuplotSize(8.6, 3.0));
pet.getGP().setOutput(base + "-error-time.tex");
pet.writePlotToFile(base + "-error-time.gp");
pet.plot();
#endif
}
@@ -566,10 +643,6 @@ private:
++updateCount;
pef.showMarkers(true, true);
std::cout << "update" << std::endl;
MyControl ctrlCopy = curCtrl;
//static float absHead = relHeadingOffset;
absHead += ctrlCopy.turnSinceLastTransition_rad;
@@ -587,6 +660,7 @@ private:
statsErr.add(estRealErr);
#ifdef PLOT_ERROR_FUNC
pef.showMarkers(true, true);
pef.clear();
pef.add("", &statsErr);
#endif
@@ -597,9 +671,11 @@ private:
pet.addB(lastTransition, getNumFHWSAPs(curObs.wifi));
#endif
#ifdef PLOT_LIVE
// update estimated path
const K::GnuplotPoint3 p3(curEst.position.x_cm, curEst.position.y_cm, curEst.position.z_cm);
plotty.pathEst.add(p3/100);
#endif
}
@@ -611,6 +687,7 @@ private:
std::cout << statsErr.asString() << std::endl;
#ifdef PLOT_LIVE
// estimation and ground-truth
plotty.setCurEst(curEst.position.inMeter());
plotty.setGroundTruth(curGT);
@@ -654,6 +731,7 @@ private:
plotty.gp << "set arrow 2 from screen " << cen.x << "," << cen.y << " to screen " << arr.x << "," << arr.y << "\n";
}
#endif
#ifdef PLOT_LIVE
plotty.plot();

2
pf/PF.h
View File

@@ -373,7 +373,7 @@ public:
wqa.add(wifiObs);
float quality = wqa.getQuality();
std::cout << "wifi quality: " << quality << std::endl;
//std::cout << "wifi quality: " << quality << std::endl;
// GPS