144 lines
4.2 KiB
C++
144 lines
4.2 KiB
C++
#ifndef EVALWIFIGROUND_H
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#define EVALWIFIGROUND_H
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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/model/WiFiModels.h"
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#include "Indoor/sensors/radio/VAPGrouper.h"
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#include "Indoor/sensors/offline/FileReader.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 <KLib/misc/gnuplot/Gnuplot.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/GnuplotSplotElementColorPoints.h>
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#include <KLib/misc/gnuplot/GnuplotSplotElementLines.h>
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#include <KLib/misc/gnuplot/GnuplotPlot.h>
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#include <KLib/misc/gnuplot/GnuplotPlotElementHistogram.h>
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#include <KLib/math/statistics/Statistics.h>
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#include "../Structs.h"
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#include "../plots/Plotty.h"
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#include "../plots/PlotErrTime.h"
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#include "../plots/PlotErrFunc.h"
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#include "../plots/PlotWiFiGroundProb.h"
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//#include "../CSV.h"
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#include <unordered_set>
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#include <thread>
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class EvalWiFiGround {
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private:
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Floorplan::IndoorMap* map;
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WiFiModel* mdl;
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WiFiObserverFree* obs;
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public:
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PlotWiFiGroundProb* groundProb;
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public:
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EvalWiFiGround(Floorplan::IndoorMap* map, const std::string calibModel, Plotty::Settings settings = Plotty::Settings()) : map(map) {
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mdl = WiFiModelFactory(map).loadXML(calibModel);
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obs = new WiFiObserverFree(8.0, *mdl);
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groundProb = new PlotWiFiGroundProb(map, settings);
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}
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void show(const std::string walkFile, const int idx = -1) {
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Offline::FileReader reader(walkFile);
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int cnt = 0;
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for (const auto& entry : reader.getWiFiGroupedByTime()) {
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const WiFiMeasurements& mes = entry.data;
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groundProb->show(*obs, mes);
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groundProb->plotMe();
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//if (++cnt > 70) {break;}
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std::this_thread::sleep_for(std::chrono::milliseconds(2));
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}
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//groundProb->update();
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groundProb->plotMe();
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int i = 0; (void) i;
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}
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void add(const std::string walkFile, const int idx, const float hue) {
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VAPGrouper vap(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
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Offline::FileReader reader(walkFile);
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const auto& entry = reader.getWiFiGroupedByTime()[idx];
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const WiFiMeasurements& _mes = entry.data;
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const WiFiMeasurements mes = vap.group(_mes);
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groundProb->showStrongest(*obs, mes, hue);
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//groundProb->plotMe();
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//std::this_thread::sleep_for(std::chrono::milliseconds(2));
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//groundProb->update();
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//groundProb->plotMe();
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int i = 0; (void) i;
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}
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void addGT(const std::string walkFile, const int idx, const float hue, const std::vector<int>& path) {
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Offline::FileReader reader(walkFile);
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const auto& entry = reader.getWiFiGroupedByTime()[idx];
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const WiFiMeasurements& mes = entry.data;
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// gt at the time of the wifi measurement
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const Timestamp ts = mes.entries.front().getTimestamp();
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const Point3 pt = reader.getGroundTruth(map, path).get(ts);
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Color c1 = Color::fromRGB(0,0,0);
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Color c2 = Color::fromHSV(hue, 255, 255);
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groundProb->getPlot().addFloorRect(pt+Point3(0,0,0.200), 1.5, c1);
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groundProb->getPlot().addFloorRect(pt+Point3(0,0,0.201), 1.0, c2);
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}
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void writeGP(const std::string& path, const std::string& name) {
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const std::string file = path + "/" + name;
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groundProb->getPlot().splot.getCustom() << "unset border \n";
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groundProb->getPlot().splot.getCustom() << "set view equal xy\n";
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groundProb->getPlot().splot.getAxisX().setTicsVisible(false);
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groundProb->getPlot().splot.getAxisY().setTicsVisible(false);
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groundProb->getPlot().splot.getAxisZ().setTicsVisible(false);
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groundProb->getPlot().splot.getAxisZ().setRange(-12.500000, 21.200000);
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groundProb->getPlot().splot.getView().setCamera(72, 28);
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groundProb->getPlot().splot.getView().setScaleAll(5.5);
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groundProb->getPlot().gp.setTerminal("epslatex", K::GnuplotSize(8.6, 4.0));
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groundProb->getPlot().gp.setOutput(file+".tex");
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groundProb->getPlot().gp.writePlotToFile(file+".gp");
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groundProb->plotMe();
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groundProb->getPlot().gp.writePlotToFile("");
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}
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};
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#endif // EVALWIFIGROUND_H
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