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OTHER2017/main.cpp
kazu 32674e3fbb many eval things 
moved obsolete code
TeX work
2017-04-10 18:20:11 +02:00

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#define BREAK raise(SIGTRAP);
#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
#include "Indoor/sensors/radio/setup/WiFiFingerprint.h"
#include "Indoor/sensors/radio/setup/WiFiFingerprints.h"
#include "Indoor/sensors/radio/setup/WiFiOptimizer.h"
#include "Indoor/sensors/radio/model/WiFiModels.h"
#include "Indoor/sensors/radio/VAPGrouper.h"
#include "Indoor/floorplan/v2/Floorplan.h"
#include "Indoor/floorplan/v2/FloorplanReader.h"
#include "Indoor/floorplan/v2/FloorplanHelper.h"
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
#include <Indoor/geo/EarthMapping.h>
#include "Settings.h"
#include "EvalCompareOpt.h"
#include "EvalCompareOpt2.h"
#include "EvalApOpt.h"
#include "EvalData.h"
#include "EvalWiFi.h"
#include "EvalWiFiSigStrength.h"
#include "pf/EvalWalk.h"
#include "EvalWifiOptResult.h"
#include "wifi/EvalWiFiConvex.h"
#include "plots/PlotErrFunc.h"
// build plots for the paper
void paperOutputs() {
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(Settings::fMap);
// show optimization behaviour
if (1 == 1) {
EvalWiFiConvex eval(map, Settings::fCalib);
eval.showParams();
//eval.showPos();
eval.showPosZ();
return;
}
// show fingerprints as plot
if (1==0){
EvalWiFiSigStrength sig(Settings::fMap, Settings::fCalib);
Plotty* p = new Plotty(map);
p->writeCodeTo(Settings::fPathGFX + "compare-wifi-in-out.gp");
p->writeEpsTex(Settings::fPathGFX + "compare-wifi-in-out.tex");
p->settings.floors = {0};
p->settings.maxZ = 1;
p->buildFloorplan();
sig.forAP_avg(p, MACAddress("d8:84:66:4a:23:d0"));
p->equalXY();
p->setView(0,0);
p->setScale(3.1, 3.1);
p->addRectangle(Point3(62, 24, 0), Point3(72, 34, 0), Color::fromRGB(0,0,0), false, false);
p->noFrame();
p->plot();
delete p;
}
// perform varios AP-param optimizations
// 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 == 1) {
// // use walks?
// std::vector<std::pair<std::string, std::vector<int>>> calibWalks = {
// std::make_pair(Settings::path1a, Settings::GroundTruth::path1),
// std::make_pair(Settings::path1b, Settings::GroundTruth::path1),
// std::make_pair(Settings::path2a, Settings::GroundTruth::path2),
// std::make_pair(Settings::path2b, Settings::GroundTruth::path2),
// };
// EvalCompareOpt2 opt1(Settings::fMap, calibWalks);
auto removeNone = [] (const WiFiFingerprint& fp) -> bool {
return false;
};
auto only0th = [] (const WiFiFingerprint& fp) -> bool {
return std::abs(fp.pos_m.z - (1.3)) > 0.1;
};
auto only1st = [] (const WiFiFingerprint& fp) -> bool {
return std::abs(fp.pos_m.z - (4+1.3)) > 0.1;
};
auto only2nd = [] (const WiFiFingerprint& fp) -> bool {
return std::abs(fp.pos_m.z - (4+3.4+1.3)) > 0.1;
};
auto only3rd = [] (const WiFiFingerprint& fp) -> bool {
return std::abs(fp.pos_m.z - (4+3.4+3.4+1.3)) > 0.1;
};
// use fingerprints?
EvalCompareOpt2 opt1(Settings::fMap, Settings::fCalib, removeNone);
// optimize using all floors
EvalCompareOpt2::Result s1 = opt1.fixedPosFixedParamsForAll(); //BREAK;
EvalCompareOpt2::Result s2 = opt1.fixedPosOptParamsForAll(); //BREAK;
EvalCompareOpt2::Result s3 = opt1.fixedPosOptParamsForEach(); //BREAK;
EvalCompareOpt2::Result s4 = opt1.optPosOptParamsForEach(); //BREAK;
// optimize only for the 0th floor
EvalCompareOpt2 opt_f0(Settings::fMap, Settings::fCalib, only0th);
EvalCompareOpt2::Result sf0 = opt_f0.optPosOptParamsForEach();
EvalCompareOpt2 opt_f1(Settings::fMap, Settings::fCalib, only1st);
EvalCompareOpt2::Result sf1 = opt_f1.optPosOptParamsForEach();
EvalCompareOpt2 opt_f2(Settings::fMap, Settings::fCalib, only2nd);
EvalCompareOpt2::Result sf2 = opt_f2.optPosOptParamsForEach();
EvalCompareOpt2 opt_f3(Settings::fMap, Settings::fCalib, only3rd);
EvalCompareOpt2::Result sf3 = opt_f3.optPosOptParamsForEach();
// save models to file
s1.model.saveXML(Settings::wifiAllFixed);
s2.model.saveXML(Settings::wifiAllOptPar);
s3.model.saveXML(Settings::wifiEachOptPar);
s4.model.saveXML(Settings::wifiEachOptParPos);
sf0.model.saveXML(Settings::wifiEachOptParPos_only0th);
sf1.model.saveXML(Settings::wifiEachOptParPos_only1st);
sf2.model.saveXML(Settings::wifiEachOptParPos_only2nd);
sf3.model.saveXML(Settings::wifiEachOptParPos_only3rd);
// fancy combined model
WiFiModelPerFloor wmpf(map);
wmpf.add(&sf0.model, map->floors[0]);
wmpf.add(&sf1.model, map->floors[1]);
wmpf.add(&sf2.model, map->floors[2]);
wmpf.add(&sf3.model, map->floors[3]);
wmpf.saveXML(Settings::wifiEachOptParPos_multimodel);
PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
pef.add("\\small{empiric}", &s1.errSingle);
pef.add("\\small{real pos, opt params}", &s2.errSingle);
pef.add("\\small{real pos, opt params [per AP]}", &s3.errSingle);
pef.add("\\small{opt pos, opt params [per AP]}", &s4.errSingle);
pef.getGP().setTerminal("epslatex", K::GnuplotSize(8.5, 5));
pef.getGP().setOutput(Settings::fPathGFX + "wifi-opt-error-hist-methods.tex");
pef.writeCodeTo(Settings::fPathGFX + "wifi-opt-error-hist-methods.gp");
pef.getGP() << "set key right bottom width -4 samplen 0.5\n";
pef.getGP() << "set rmargin 0.4\n";
pef.getGP() << "set tmargin 0.4\n";
pef.plot();
int i = 0; (void) i;
//return;
//sleep(1000);
}
/** plot wifi eval results */
if (1 == 1) {
WiFiFingerprints fps;
fps.load(Settings::fCalib);
EvalWiFiOptResult eval1(Settings::fMap);
eval1.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos, fps);
EvalWiFiOptResult eval2(Settings::fMap);
eval2.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiAllFixed, fps);
EvalWiFiOptResult evalfloor(Settings::fMap);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only0th, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only1st, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only2nd, fps);
evalfloor.showErrorPerFingerprint<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only3rd, fps);
evalfloor.showErrorPerFingerprint<WiFiModelPerFloor>(Settings::wifiEachOptParPos_multimodel, fps);
int i = 0; (void) i;
}
// error histogram all pos, all params, between in/out/stair, in/out, in/stair, in
if(1==0){
EvalCompareOpt e1(Settings::fMap, Settings::fCalib, false, false, false);
EvalCompareOpt e2(Settings::fMap, Settings::fCalib, true, false, false);
EvalCompareOpt e3(Settings::fMap, Settings::fCalib, false, true, false);
EvalCompareOpt e4(Settings::fMap, Settings::fCalib, true, true, false);
K::Statistics<float> s1 = e1.optPosOptParamsForEach().errAbs;
K::Statistics<float> s2 = e2.optPosOptParamsForEach().errAbs;
K::Statistics<float> s3 = e3.optPosOptParamsForEach().errAbs;
K::Statistics<float> s4 = e4.optPosOptParamsForEach().errAbs;
PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
pef.add("\\small{floor + stairs + out}", &s1);
pef.add("\\small{floor + out}", &s2);
pef.add("\\small{floor + stairs}", &s3);
pef.add("\\small{floor}", &s4);
pef.getGP().setTerminal("epslatex", K::GnuplotSize(8.5, 5));
pef.getGP().setOutput(Settings::fPathGFX + "wifi-opt-error-hist-stair-outdoor.tex");
pef.writeCodeTo(Settings::fPathGFX + "wifi-opt-error-hist-stair-outdoor.gp");
pef.getGP() << "set key right bottom width -3\n";
pef.getGP() << "set rmargin 0.4\n";
pef.getGP() << "set tmargin 0.4\n";
pef.plot();
}
// wifi issue for path1
if (1 == 0) {
Offline::FileReader reader(Settings::path1a);
PlotWifiMeasurements plot;
for (int i = 0; i < 60; ++i) {
const WiFiMeasurements mes = reader.getWiFiGroupedByTime().at(i).data;
const WiFiMeasurements mes2 = Settings::WiFiModel::vg_eval.group(mes);
plot.add(mes2);
}
K::GnuplotObjectRectangle rect(
K::GnuplotCoordinate2(0, K::GnuplotCoordinateSystem::FIRST, 0, K::GnuplotCoordinateSystem::GRAPH),
K::GnuplotCoordinate2(10, K::GnuplotCoordinateSystem::FIRST, 1, K::GnuplotCoordinateSystem::GRAPH),
K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromRGB(128,128,128), 0.5),
K::GnuplotStroke()
);
plot.getPlot().setGrid(true);
plot.getPlot().getKey().setVisible(false);
plot.getPlot().getObjects().add(&rect);
plot.plot();
sleep(100);
}
}
void testWAF() {
Floorplan::Ceilings ceilings;
ceilings.addCeiling(3);
ceilings.addCeiling(6);
ceilings.addCeiling(9);
ceilings.addCeiling(12);
K::Gnuplot gp;
K::GnuplotPlot gplot;
K::GnuplotPlotElementLines lines; gplot.add(&lines);
const Point3 posAP(0, 0, 8);
for (float z = 0; z < 15; z += 0.1) {
const Point3 posMe(0, 0, z);
float factor = ceilings.numCeilingsBetweenFloat(posAP, posMe);
lines.add({z, factor});
}
gp.draw(gplot);
gp.flush();
sleep(1000);
}
int main(void) {
//testWAF();
paperOutputs(); // return 0;
// calib error in/out
if (1 == 0) {
// outdoor only
bool ignoreStaircases = true;
bool ignoreOutdoor = false;
bool ignoreIndoor = true;
EvalCompareOpt opt1(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
EvalCompareOpt::Result s1 = opt1.optPosOptParamsForEach();
std::cout << s1.errAbs.asString() << std::endl;
// stairs only
ignoreStaircases = false;
ignoreOutdoor = true;
ignoreIndoor = true;
EvalCompareOpt opt3(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
EvalCompareOpt::Result s3 = opt3.optPosOptParamsForEach();
std::cout << s3.errAbs.asString() << std::endl;
// indoor only
ignoreStaircases = true;
ignoreOutdoor = true;
ignoreIndoor = false;
EvalCompareOpt opt2(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
EvalCompareOpt::Result s2 = opt2.optPosOptParamsForEach();
std::cout << s2.errAbs.asString() << std::endl;
}
// walks
if (1 == 1) {
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(Settings::fMap);;
EvalWalk walk(map);
walk.walk1();
return 0;
}
// test gps within data files
if (1 == 0) {
EvalData::dumpGPSforPath(Settings::path1a); BREAK;
EvalData::dumpGPSforPath(Settings::path1b); BREAK;
EvalData::dumpGPSforPath(Settings::path2a); BREAK;
EvalData::dumpGPSforPath(Settings::path2b); BREAK;
}
// eval average signal-strength per AP
if (1 == 0) {
EvalWiFiSigStrength ewss(Settings::fMap, Settings::fCalib);
ewss.perAP_avg();
}
// test wifi within data files
if (1 == 1) {
EvalWiFi ew1(Settings::fMap, Settings::path1a, Settings::GroundTruth::path1);
//EvalWiFi ew1(Settings::fMap, Settings::path2a, Settings::GroundTruth::path2);
//ew1.fixedParams(-40, 2.5, -8); BREAK;
//ew1.fixedParams(-64.5905, 1.25988, -2.47863); BREAK;
//ew1.fixedParams(-59.4903,1.52411,-3.25077); BREAK;
//ew1.load(Settings::wifiEachOptParPos);
//ew1.load<WiFiModelLogDistCeiling>(Settings::wifiAllFixed, "empirc");
//ew1.load(Settings::wifiAllOptPar, "opt params all APs");
//ew1.load(Settings::wifiEachOptPar, "opt params each AP");
ew1.load(Settings::wifiEachOptParPos, "everything opt");
ew1.load(Settings::wifiEachOptParPos_multimodel, "model per floor");
//ew1.load<WiFiModelLogDistCeiling>(Settings::wifiEachOptParPos_only1st, "everything opt");
sleep(1000);
}
// run earthmapping
//testMapEarthReg(fMap);
if (1 == 0) {
EvalApOpt eval(Settings::fMap, Settings::fCalib);
eval.optAll();
}
// compare wifi opt methods
if (1 == 0) {
const bool ignoreStaircases = false;
const bool ignoreOutdoor = false;
const bool ignoreIndoor = false;
EvalCompareOpt opt(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
EvalCompareOpt::Result s1 = opt.fixedPosFixedParamsForAll(); //BREAK;
EvalCompareOpt::Result s2 = opt.fixedPosOptParamsForAll(); //BREAK;
EvalCompareOpt::Result s3 = opt.fixedPosOptParamsForEach(); //BREAK;
EvalCompareOpt::Result s4 = opt.optPosOptParamsForEach(); //BREAK;
PlotErrFunc pef("error (dB)", "fingerprints (%)");
pef.add("empiric", &s1.errAbs);
pef.add("real pos, opt params [same for all]", &s2.errAbs);
pef.add("real pos, opt params [for each]", &s3.errAbs);
pef.add("opt pos, opt params [for each]", &s4.errAbs);
pef.plot();
}
// compare leaving out fingerprints
if (1 == 0) {
EvalCompareOpt e1(Settings::fMap, Settings::fCalib, false, false, false);
EvalCompareOpt e2(Settings::fMap, Settings::fCalib, true, false, false);
EvalCompareOpt e3(Settings::fMap, Settings::fCalib, false, true, false);
EvalCompareOpt e4(Settings::fMap, Settings::fCalib, true, true, false);
K::Statistics<float> s1 = e1.optPosOptParamsForEach().errAbs;
K::Statistics<float> s2 = e2.optPosOptParamsForEach().errAbs;
K::Statistics<float> s3 = e3.optPosOptParamsForEach().errAbs;
K::Statistics<float> s4 = e4.optPosOptParamsForEach().errAbs;
PlotErrFunc pef("error (dB)", "fingerprints (%)");
pef.add("floor + stairs + out", &s1);
pef.add("floor + out", &s2);
pef.add("floor + stairs", &s3);
pef.add("floor", &s4);
pef.plot();
}
}
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