269 lines
8.6 KiB
C++
269 lines
8.6 KiB
C++
#define BREAK raise(SIGTRAP);
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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/VAPGrouper.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 <KLib/misc/gnuplot/Gnuplot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotSplot.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <Indoor/geo/EarthMapping.h>
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#include "Settings.h"
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#include "EvalCompareOpt.h"
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#include "EvalApOpt.h"
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#include "EvalData.h"
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#include "EvalWiFi.h"
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#include "EvalWiFiSigStrength.h"
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#include "pf/EvalWalk.h"
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#include "PlotErrFunc.h"
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// build plots for the paper
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void paperOutputs() {
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(Settings::fMap);
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if (1==1){
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EvalWiFiSigStrength sig(Settings::fMap, Settings::fCalib);
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Plotty* p = new Plotty(map);
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p->writeCodeTo(Settings::fPathGFX + "compare-wifi-in-out.gp");
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p->writeEpsTex(Settings::fPathGFX + "compare-wifi-in-out.tex");
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p->settings.floors = {0};
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p->settings.maxZ = 1;
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p->buildFloorplan();
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sig.forAP_avg(p, MACAddress("d8:84:66:4a:23:d0"));
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p->equalXY();
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p->setView(0,0);
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p->setScale(3.1, 3.1);
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p->addRectangle(Point3(62, 24, 0), Point3(72, 34, 0), Color::fromRGB(0,0,0), false, false);
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p->noFrame();
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p->plot();
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delete p;
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}
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if (1==1) {
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const bool ignoreStaircases = false;
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const bool ignoreOutdoor = false;
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EvalCompareOptAllFixed allFixed(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor);
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K::Statistics<float> s1 = allFixed.fixedPosFixedParamsForAll(); //BREAK;
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K::Statistics<float> s2 = allFixed.fixedPosOptParamsForAll(); //BREAK;
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K::Statistics<float> s3 = allFixed.fixedPosOptParamsForEach(); //BREAK;
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K::Statistics<float> s4 = allFixed.optPosOptParamsForEach(); //BREAK;
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PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
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pef.add("\\small{empiric}", s1);
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pef.add("\\small{real pos, opt params}", s2);
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pef.add("\\small{real pos, opt params [per AP]}", s3);
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pef.add("\\small{opt pos, opt params [per AP]}", s4);
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pef.getGP().setTerminal("epslatex", K::GnuplotSize(8.5, 5));
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pef.getGP().setOutput(Settings::fPathGFX + "wifi-opt-error-hist-methods.tex");
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pef.writeCodeTo(Settings::fPathGFX + "wifi-opt-error-hist-methods.gp");
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pef.getGP() << "set key right bottom width -4 samplen 0.5\n";
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pef.getGP() << "set rmargin 0.4\n";
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pef.getGP() << "set tmargin 0.4\n";
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pef.plot();
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}
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// error histogram all pos, all params, between in/out/stair, in/out, in/stair, in
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if(1==1){
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EvalCompareOptAllFixed e1(Settings::fMap, Settings::fCalib, false, false);
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EvalCompareOptAllFixed e2(Settings::fMap, Settings::fCalib, true, false);
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EvalCompareOptAllFixed e3(Settings::fMap, Settings::fCalib, false, true);
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EvalCompareOptAllFixed e4(Settings::fMap, Settings::fCalib, true, true);
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K::Statistics<float> s1 = e1.optPosOptParamsForEach();
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K::Statistics<float> s2 = e2.optPosOptParamsForEach();
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K::Statistics<float> s3 = e3.optPosOptParamsForEach();
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K::Statistics<float> s4 = e4.optPosOptParamsForEach();
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PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
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pef.add("\\small{floor + stairs + out}", s1);
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pef.add("\\small{floor + out}", s2);
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pef.add("\\small{floor + stairs}", s3);
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pef.add("\\small{floor}", s4);
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pef.getGP().setTerminal("epslatex", K::GnuplotSize(8.5, 5));
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pef.getGP().setOutput(Settings::fPathGFX + "wifi-opt-error-hist-stair-outdoor.tex");
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pef.writeCodeTo(Settings::fPathGFX + "wifi-opt-error-hist-stair-outdoor.gp");
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pef.getGP() << "set key right bottom width -3\n";
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pef.getGP() << "set rmargin 0.4\n";
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pef.getGP() << "set tmargin 0.4\n";
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pef.plot();
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}
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}
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int main(void) {
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// paperOutputs(); return 0;
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if (1 == 1) {
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(Settings::fMap);;
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EvalWalk walk(map);
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walk.walk1();
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return 0;
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}
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// test gps within data files
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if (1 == 0) {
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EvalData::dumpGPSforPath(Settings::path1a); BREAK;
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EvalData::dumpGPSforPath(Settings::path1b); BREAK;
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EvalData::dumpGPSforPath(Settings::path2a); BREAK;
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EvalData::dumpGPSforPath(Settings::path2b); BREAK;
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}
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// eval average signal-strength per AP
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if (1 == 0) {
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EvalWiFiSigStrength ewss(Settings::fMap, Settings::fCalib);
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ewss.perAP_avg();
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}
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// test wifi within data files
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if (1 == 0) {
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//EvalWiFi ew1(Settings::fMap, Settings::path2a, Settings::GroundTruth::path2);
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EvalWiFi ew1(Settings::fMap, Settings::path2a, Settings::GroundTruth::path2);
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//ew1.fixedParams(-40, 2.5, -8); BREAK;
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//ew1.fixedParams(-64.5905, 1.25988, -2.47863); BREAK;
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ew1.fixedParams(-59.4903,1.52411,-3.25077); BREAK;
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}
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// run earthmapping
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//testMapEarthReg(fMap);
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if (1 == 0) {
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EvalApOpt eval(Settings::fMap, Settings::fCalib);
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eval.optAll();
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}
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// compare wifi opt methods
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if (1 == 1) {
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const bool ignoreStaircases = false;
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const bool ignoreOutdoor = false;
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EvalCompareOptAllFixed allFixed(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor);
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K::Statistics<float> s1 = allFixed.fixedPosFixedParamsForAll(); //BREAK;
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K::Statistics<float> s2 = allFixed.fixedPosOptParamsForAll(); //BREAK;
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K::Statistics<float> s3 = allFixed.fixedPosOptParamsForEach(); //BREAK;
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K::Statistics<float> s4 = allFixed.optPosOptParamsForEach(); //BREAK;
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PlotErrFunc pef("error (dB)", "fingerprints (%)");
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pef.add("empiric", s1);
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pef.add("real pos, opt params [same for all]", s2);
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pef.add("real pos, opt params [for each]", s3);
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pef.add("opt pos, opt params [for each]", s4);
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pef.plot();
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}
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// compare leaving out fingerprints
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if (1 == 0) {
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EvalCompareOptAllFixed e1(Settings::fMap, Settings::fCalib, false, false);
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EvalCompareOptAllFixed e2(Settings::fMap, Settings::fCalib, true, false);
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EvalCompareOptAllFixed e3(Settings::fMap, Settings::fCalib, false, true);
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EvalCompareOptAllFixed e4(Settings::fMap, Settings::fCalib, true, true);
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K::Statistics<float> s1 = e1.optPosOptParamsForEach();
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K::Statistics<float> s2 = e2.optPosOptParamsForEach();
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K::Statistics<float> s3 = e3.optPosOptParamsForEach();
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K::Statistics<float> s4 = e4.optPosOptParamsForEach();
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PlotErrFunc pef("error (dB)", "fingerprints (%)");
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pef.add("floor + stairs + out", s1);
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pef.add("floor + out", s2);
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pef.add("floor + stairs", s3);
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pef.add("floor", s4);
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pef.plot();
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}
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// Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile("/apps/android/workspace/OTHER2017/data/SHL33a.xml");
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// WiFiFingerprints calib("/apps/android/workspace/OTHER2017/data/wifi_fp.dat");
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// VAPGrouper vap(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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// WiFiOptimizer opt(map, vap);
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// opt.addFingerprints(calib);
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// WiFiOptimizer::APParamsList list = opt.optimizeAll();
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// for (Floorplan::Floor* floor : map->floors) {
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// for (Floorplan::AccessPoint* ap : floor->accesspoints) {
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// const WiFiOptimizer::APParamsMAC* params = list.get(ap->mac);
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// if (params) {
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// const float delta = ap->getPos(floor).getDistance(Point3(params->params.x, params->params.y, params->params.z));
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// std::cout << ap->mac << ": " << delta << "m" << std::endl;
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// }
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// }
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// }
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// static K::Gnuplot gp;
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// gp << "set view equal xy\n";
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// K::GnuplotSplot splot;
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// K::GnuplotSplotElementPoints points; splot.add(&points); points.setPointType(7); points.setPointSize(0.5);
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// K::GnuplotSplotElementLines lines; splot.add(&lines);
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// for (Floorplan::Floor* floor : map->floors) {
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// for (Floorplan::FloorObstacle* obs : floor->obstacles) {
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// Floorplan::FloorObstacleLine* line = dynamic_cast<Floorplan::FloorObstacleLine*>(obs);
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// if (line) {
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// const K::GnuplotPoint3 p1(line->from.x, line->from.y, floor->atHeight);
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// const K::GnuplotPoint3 p2(line->to.x, line->to.y, floor->atHeight);
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// lines.addSegment(p1, p2);
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// }
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// }
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// }
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// for (const WiFiOptimizer::APParamsMAC& ap : list.get()) {
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// const K::GnuplotPoint3 p3(ap.params.x, ap.params.y, ap.params.z);
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// points.add(p3);
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// const Floorplan::AccessPoint* fap = FloorplanHelper::getAP(map, ap.mac);
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// std::string lbl = (fap) ? (fap->name) : (ap.mac.asString());
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// if (!fap) {
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// gp << "set label '" << lbl << "' at " << ap.params.x+1 << "," << ap.params.y+1 << "," << ap.params.z+0.3 << "\n";
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// std::cout << "AP missing in Map: " << ap.mac.asString() << " @ " << ap.params.x << "," << ap.params.y << "," << ap.params.z << std::endl;
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// }
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// }
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// gp.draw(splot);
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// gp.flush();
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// int i = 0; (void) i;
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}
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