405 lines
12 KiB
C++
405 lines
12 KiB
C++
#ifndef EVALWALK_H
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#define EVALWALK_H
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#include <KLib/math/filter/particles/ParticleFilter.h>
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#include <KLib/math/filter/particles/ParticleFilterEvaluation.h>
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#include <KLib/math/filter/particles/ParticleFilterInitializer.h>
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#include <KLib/math/filter/particles/ParticleFilterTransition.h>
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#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingPercent.h>
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#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingNEff.h>
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#include "../plots/PlotErrFunc.h"
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#include <thread>
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#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
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#include "Indoor/sensors/radio/setup/WiFiFingerprint.h"
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#include "Indoor/sensors/radio/setup/WiFiFingerprints.h"
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#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
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#include "Indoor/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h"
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#include "Indoor/sensors/radio/VAPGrouper.h"
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#include "Indoor/sensors/imu/StepDetection.h"
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#include "Indoor/sensors/imu/TurnDetection.h"
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#include "Indoor/sensors/activity/ActivityDetector.h"
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#include "Indoor/floorplan/v2/Floorplan.h"
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#include "Indoor/floorplan/v2/FloorplanReader.h"
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#include "Indoor/floorplan/v2/FloorplanHelper.h"
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#include "Indoor/floorplan/v2/FloorplanCeilings.h"
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#include "Indoor/sensors/radio/model/WiFiModels.h"
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#include "Indoor/sensors/offline/FileReader.h"
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#include "../Helper.h"
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#include "PF.h"
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#include "../plots/PlotErrTime.h"
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#include <Indoor/debug/PlotWifiMeasurements.h>
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#include <Indoor/sensors/offline/FilePlayer.h>
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#include <Indoor/sensors/offline/FileReader.h>
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#include <Indoor/sensors/offline/Listener.h>
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class EvalWalk : public Offline::Listener {
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Grid<MyGridNode>* grid;
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K::ParticleFilter<MyState, MyControl, MyObservation>* pf;
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std::string runName;
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Plotty plotty;
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PlotWifiMeasurements plotWifi;
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Offline::FileReader reader;
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Offline::FilePlayer player;
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Offline::FileReader::GroundTruth groundTruthLive;
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Timestamp lastTransition;
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MyObservation curObs;
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MyControl curCtrl;
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MyState curEst;
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StepDetection stepDetect;
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TurnDetection turnDetect;
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ActivityDetector actDetect;
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std::vector<Point3> groundTruth;
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Floorplan::IndoorMap* map;
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EarthMapping em;
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float absHead = 0;
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public:
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EvalWalk(Floorplan::IndoorMap* map) : plotty(map), map(map), em(map) {
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const std::string saveFile = Settings::pathData + "/grid.dat";
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grid = new Grid<MyGridNode>(Settings::Grid::gridSize_cm);
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// once
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plotty.buildFloorplan();
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// deserialize grid
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std::ifstream inp(saveFile, std::ofstream::binary);
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if (inp) {
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grid->read(inp);
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inp.close();
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} else {
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// build the grid
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GridFactory<MyGridNode> gf(*grid);
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gf.build(map);
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Importance::addImportance(*grid);
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std::ofstream out(saveFile, std::ofstream::binary);
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grid->write(out);
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out.close();
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}
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pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( Settings::numParticles, std::unique_ptr<PFInit>(new PFInit(grid)) );
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// transition
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pf->setTransition( std::unique_ptr<PFTrans>( new PFTrans(grid)) );
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// resampling step?
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//pf->setNEffThreshold(0.15);
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//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
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//pf->setNEffThreshold(0.75);
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//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.10)) );
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//pf->setNEffThreshold(0.75);
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//pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.05)) );
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K::ParticleFilterResamplingNEff<MyState>* res = new K::ParticleFilterResamplingNEff<MyState>(0.75, 0.05);
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pf->setNEffThreshold(1.0);
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pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingNEff<MyState>>(res) );
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// move during resampling. NOT ALLOWED!
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// res->setDrawCallback([&] (K::Particle<MyState>& p) {
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// static std::minstd_rand gen;
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// static int cnt = 0; ++cnt;
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// bool init = cnt < pf->getParticles().size() * 50;
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// const MyGridNode* n = grid->getNodePtrFor(p.state.position);
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// std::normal_distribution<float> distTurn(0, (init) ? (0.5) : (0.05));
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// for (int j = 0; j < 2; ++j) {
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// std::uniform_int_distribution<int> distIdx(0, n->getNumNeighbors()-1);
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// const int idx = distIdx(gen);
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// n = &(grid->getNeighbor(*n, idx));
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// }
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// p.state.position = *n;
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// p.state.heading.direction += distTurn(gen);
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// });
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// state estimation step
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//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
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//pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
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pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.25f)));
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}
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void walk1() {
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// path1
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// absHead = M_PI/2;
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// const std::string path = Settings::path1b;
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// const std::vector<int> pathPoints = Settings::GroundTruth::path1;
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// path2
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// absHead = 0;
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// const std::string path = Settings::path2b;
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// const std::vector<int> pathPoints = Settings::GroundTruth::path2;
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// path_toni_inst_2
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absHead = M_PI;
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const std::string path = Settings::path_toni_inst_2b;
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const std::vector<int> pathPoints = Settings::GroundTruth::path_toni_inst_2;
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runName = "";
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// get ground-truth
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groundTruth = FloorplanHelper::getGroundTruth(map, pathPoints);
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// wifi model
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//WiFiModelLogDistCeiling wifiModel(map);
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//wifiModel.loadXML(Settings::wifiAllFixed);
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//wifiModel.loadXML(Settings::wifiEachOptParPos);
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//WiFiModelPerFloor wifiModel(map);
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//wifiModel.loadXML(Settings::wifiEachOptParPos_multimodel);
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WiFiModelPerBBox wifiModel(map);
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wifiModel.loadXML(Settings::wifiEachOptParPos_perBBox);
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// eval
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std::unique_ptr<PFEval> eval = std::unique_ptr<PFEval>( new PFEval(grid, wifiModel, em) );
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pf->setEvaluation( std::move(eval) );
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// data-file
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reader.open(path);
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groundTruthLive = reader.getGroundTruth(map, pathPoints);
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player.setReader(&reader);
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player.setListener(this);
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player.start();
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// wait for completion
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player.join();
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}
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virtual void onGyroscope(const Timestamp ts, const GyroscopeData data) override {
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const float delta_rad = turnDetect.addGyroscope(ts, data);
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curCtrl.turnSinceLastTransition_rad += delta_rad;
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}
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virtual void onAccelerometer(const Timestamp ts, const AccelerometerData data) override {
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turnDetect.addAccelerometer(ts, data);
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const bool step = stepDetect.add(ts, data);
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if (step) {
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++curCtrl.numStepsSinceLastTransition;
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}
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gotSensorData(ts);
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curCtrl.activityNew = actDetect.add(ts, data);
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}
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virtual void onGravity(const Timestamp ts, const GravityData data) override {
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;
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}
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virtual void onWiFi(const Timestamp ts, const WiFiMeasurements data) override {
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std::cout << "WIFI" << std::endl;
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curObs.wifi = data;
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plotWifi.add(Settings::WiFiModel::vg_eval.group(data));
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plotWifi.plot();
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}
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virtual void onBarometer(const Timestamp ts, const BarometerData data) override {
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;
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}
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virtual void onGPS(const Timestamp ts, const GPSData data) override {
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curObs.gps = data;
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}
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virtual void onCompass(const Timestamp ts, const CompassData data) override {
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const float newAzimuth =- data.azimuth + M_PI/2; // oriented towards north for our map
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const float newAzimuth_safe = Angle::makeSafe_2PI(newAzimuth);
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const float diff = Angle::getSignedDiffRAD_2PI(curCtrl.compassAzimuth_rad, newAzimuth_safe);
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curCtrl.compassAzimuth_rad += diff * 0.01;
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curCtrl.compassAzimuth_rad = Angle::makeSafe_2PI(curCtrl.compassAzimuth_rad);
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curObs.compassAzimuth_rad = curCtrl.compassAzimuth_rad;
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//curCtrl.compassAzimuth_rad = curCtrl.compassAzimuth_rad * 0.99 + newAzimuth * 0.01;
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}
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private:
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/** called when any sensor has received new data */
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void gotSensorData(const Timestamp ts) {
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curObs.currentTime = ts;
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filterUpdateIfNeeded();
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}
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/** check whether its time for a filter update, and if so, execute the update and return true */
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bool filterUpdateIfNeeded() {
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static float avgSum = 0;
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static int avgCount = 0;
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// fixed update rate based on incoming sensor data
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// allows working with live data and faster for offline data
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const Timestamp diff = curObs.currentTime - lastTransition;
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if (diff >= Settings::Filter::updateEvery) {
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// as the difference is slightly above the 500ms, calculate the error and incorporate it into the next one
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const Timestamp err = diff - Settings::Filter::updateEvery;
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lastTransition = curObs.currentTime - err;
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const Timestamp ts1 = Timestamp::fromUnixTime();
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filterUpdate();
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const Timestamp ts2 = Timestamp::fromUnixTime();
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const Timestamp tsDiff = ts2-ts1;
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//const QString filterTime = QString::number(tsDiff.ms());
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//avgSum += tsDiff.ms(); ++avgCount;
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//Log::add("xxx", "ts:" + std::to_string(curObs.currentTime.ms()) + " avg:" + std::to_string(avgSum/avgCount));
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return true;
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} else {
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return false;
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}
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}
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K::Statistics<float> statsErr;
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int updateCount = 0;
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int getNumFHWSAPs(const WiFiMeasurements& mes) {
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std::unordered_set<std::string> set;
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for (const WiFiMeasurement& m : mes.entries) {
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std::string mac = m.getAP().getMAC().asString();
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mac.back() = '0';
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set.insert(mac);
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}
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return set.size();
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}
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/** perform a filter-update (called from a background-loop) */
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void filterUpdate() {
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++updateCount;
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static PlotErrTime pet("\\small{time (sec)}", "\\small{error (m)}", "\\small{APs visible}");
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static PlotErrFunc pef("\\small{error (m)}", "\\small{updates (\\%)}");
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pef.showMarkers(true);
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std::cout << "update" << std::endl;
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MyControl ctrlCopy = curCtrl;
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//static float absHead = relHeadingOffset;
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absHead += ctrlCopy.turnSinceLastTransition_rad;
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//lastEst = curEst;
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curEst = pf->update(&curCtrl, curObs);
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const Point3 curGT = groundTruthLive.get(lastTransition);
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plotty.setCurEst(curEst.position.inMeter());
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plotty.setGroundTruth(curGT);
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if (updateCount > 4) {
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// error between ground-truth and estimation
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const float estRealErr = curEst.position.inMeter().getDistance(curGT);
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statsErr.add(estRealErr);
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pef.clear();
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pef.add("", &statsErr);
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pef.plot();
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// timed error
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pet.addErr(lastTransition, estRealErr);
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pet.addB(lastTransition, getNumFHWSAPs(curObs.wifi));
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pet.plot();
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// update estimated path
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const K::GnuplotPoint3 p3(curEst.position.x_cm, curEst.position.y_cm, curEst.position.z_cm);
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plotty.pathEst.add(p3/100);
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}
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std::cout << statsErr.asString() << std::endl;
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// show particles
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float maxWeight = 0;
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float minWeight = 99;
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plotty.particles.clear();
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for (const auto p : pf->getParticles()) {
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const K::GnuplotPoint3 p3(p.state.position.x_cm, p.state.position.y_cm, p.state.position.z_cm);
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plotty.particles.add(p3/100, p.weight);
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if (p.weight > maxWeight) {maxWeight = p.weight;}
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if (p.weight < minWeight) {minWeight = p.weight;}
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}
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plotty.gp << "set cbrange [" << minWeight << ":" << maxWeight << "] \n";
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// show ground-truth
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plotty.pathReal.clear();
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for (const Point3 pt : groundTruth) {
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plotty.pathReal.add(K::GnuplotPoint3(pt.x, pt.y, pt.z));
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}
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std::string title =
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" time " + std::to_string(curObs.currentTime.sec()) +
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" steps: " + std::to_string(ctrlCopy.numStepsSinceLastTransition) +
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" turn: " + std::to_string(ctrlCopy.turnSinceLastTransition_rad) +
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" APs: " + std::to_string(curObs.wifi.entries.size()) +
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" Act: " + std::to_string((int)curCtrl.activityNew);
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plotty.setTitle(title);
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// relative heading and compass
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{
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Point2 cen(0.1, 0.9);
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Point2 dir(std::cos(absHead), std::sin(absHead));
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Point2 arr = cen + dir * 0.1;
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plotty.gp << "set arrow 1 from screen " << cen.x << "," << cen.y << " to screen " << arr.x << "," << arr.y << "\n";
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dir = Point2(std::cos(ctrlCopy.compassAzimuth_rad), std::sin(ctrlCopy.compassAzimuth_rad));
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arr = cen + dir * 0.05;
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plotty.gp << "set arrow 2 from screen " << cen.x << "," << cen.y << " to screen " << arr.x << "," << arr.y << "\n";
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}
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// plot
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plotty.plot();
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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curCtrl.resetAfterTransition();
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// const MyGridNode* node = grid->getNodePtrFor(curEst.position);
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// if (node) {
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// try {
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// pathToDest = trans->modDestination.getShortestPath(*node);
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// } catch (...) {;}
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// }
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// mainController->getMapView()->showGridImportance();
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}
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};
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#endif // EVALWALK_H
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