current TeX and Code

EvalWifiOptResult.h

@@ -8,6 +8,7 @@
 
 #include "Indoor/sensors/radio/VAPGrouper.h"
 #include "Indoor/sensors/offline/FileReader.h"
+#include "Indoor/sensors/radio/WiFiQualityAnalyzer.h"
 
 #include "Indoor/floorplan/v2/Floorplan.h"
 #include "Indoor/floorplan/v2/FloorplanReader.h"
@@ -195,9 +196,187 @@ public:
 //			const float h = 90 * (1 - std::pow(factor, 1.0));
 //			K::GnuplotColor color = K::GnuplotColor::fromHSV(h, 255, 255);
 
+			// scale
+			//factor = std::pow(factor, 2.0);
+
 			// hsv white->red
 			const float sat = 255 * factor;
-			K::GnuplotColor color = K::GnuplotColor::fromHSV(0, sat, 255);
+			const float val = 255;//255 - 128 * factor;
+			K::GnuplotColor color = K::GnuplotColor::fromHSV(0, sat, val);
+
+			K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon(
+				K::GnuplotFill(K::GnuplotFillStyle::SOLID, color),
+				K::GnuplotStroke::NONE()
+			);
+
+			// slightly overlapping??
+			const float s = ss * 0.50;
+
+			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->setZIndex(ep.pos.z - 1.5);
+			plot->splot.getObjects().add(poly);
+
+		}
+
+		plot->splot.getObjects().reOrderByZIndex();
+		plot->plot();
+
+		return plot;
+
+	}
+
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+	Plotty* showWifiQuality(const std::vector<Offline::FileReader>& readers, const std::vector<std::vector<int>>& paths) {
+
+		Plotty* plot = new Plotty(map);
+
+		plot->settings.obstacles = true;
+		plot->settings.outline = false;
+		plot->settings.stairs = false;
+		plot->settings.outlineColorCustom = true;
+		//plot->settings.outlineColor = K::GnuplotColor::fromRGB(0,0,0);
+		plot->buildFloorplan();
+		plot->equalXY();
+
+		plot->gp << "unset border\n";
+		plot->splot.getAxisX().setTicsVisible(false);
+		plot->splot.getAxisY().setTicsVisible(false);
+		plot->splot.getAxisZ().setTicsVisible(false);
+		plot->setScale(1.5, 1.5);
+
+		// combine position and quality
+		struct ErrPoint {
+			Point3 pos;
+			float err;
+			ErrPoint(const Point3 pos, const float err) : pos(pos), err(err) {;}
+		};
+
+		std::vector<ErrPoint> errors;
+
+		// process each location
+		for (int i = 0; i < readers.size(); ++i) {
+
+			const Offline::FileReader& reader = readers[i];
+			Offline::FileReader::GroundTruth gt = reader.getGroundTruth(map, paths[i]);
+
+			WiFiQualityAnalyzer analyzer;
+
+			for (const auto& entry : reader.getWiFiGroupedByTime()) {
+
+				analyzer.add(entry.data);
+
+				Point3 pt = gt.get(Timestamp::fromMS(entry.ts));
+				const float quality = analyzer.getQuality();
+
+				// enqueue MAX error
+				errors.push_back(ErrPoint(pt, quality));
+
+			}
+		}
+
+		// interpolated error points
+		std::vector<ErrPoint> errorsInt;
+		K::Statistics<float> errStats;
+		const float oz = 1.3;
+		const float ss = 4.0;
+
+		for (Floorplan::Floor* floor : map->floors) {
+
+			for (float y = -20; y < 70; y+=ss) {
+				for (float x = -10; x < 130; x+=ss) {
+
+					const Point3 pos(x,y,floor->atHeight+oz);
+					float errSum = 0;
+					float distSum = 0;
+					int cnt = 0;
+
+					float minDist = 99999;
+
+					for (const ErrPoint& ep : errors) {
+						//if (ep.pos.z != pos.z) {continue;}
+						const float dist = ep.pos.getDistance(pos);
+						//if (dist > 4.0) {continue;}
+						//const float imp = 1.0 / (std::pow((dist+0.01)/4.0, 3));
+						//errSum += ep.err * imp;
+						//distSum += imp;
+						if (dist < minDist) {
+							errSum = ep.err;
+							distSum = 1.0;
+							minDist = dist;
+						}
+
+
+						++cnt;
+					}
+
+					// limit estimations to the floorplan's outline
+					bool contained = false;
+					for (Floorplan::FloorOutlinePolygon* poly : floor->outline) {
+						HelperPoly hp(*poly);
+						if (hp.contains(pos.xy()*100)) {
+							if (poly->method == Floorplan::OutlineMethod::ADD) {
+								contained = true;
+							} else {
+								//contained = false; break;
+							}
+						}
+					}
+
+					if (distSum == 0) {continue;}
+					if (!contained) {continue;}
+					const float err = errSum/distSum;
+
+					// add
+					errStats.add(err);
+					errorsInt.push_back(ErrPoint(pos, err));
+
+				}
+			}
+
+		}
+
+		const float minErr = 0.0;//errStats.getMin();
+		const float maxErr = 20.0;//errStats.getQuantile(0.9);
+
+		//plot->splot.setTitle("max error: " + std::to_string(errStats.getMax()) + " dB");
+
+		// draw interpolated errors between min/max
+		for (const ErrPoint& ep : errorsInt) {
+
+			float factor = ep.err;
+
+			factor = std::pow(factor, 0.5);
+
+			// hsv white->red
+			const float sat = 128 - 128 * factor;
+			const float val = 255;//128 + 127 * factor;
+			K::GnuplotColor color = K::GnuplotColor::fromHSV(0, sat, val);
 
 			K::GnuplotObjectPolygon* poly = new K::GnuplotObjectPolygon(
 				K::GnuplotFill(K::GnuplotFillStyle::SOLID, color),
@@ -223,6 +402,13 @@ public:
 
 	}
 
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+
 };
 
 #endif // EVALWIFIOPTRESULT_H