460 lines
15 KiB
C++
460 lines
15 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 "EvalCompareOpt2.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 "plots/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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// show fingerprints as plot
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if (1==0){
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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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// perform varios AP-param optimizations
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// generate error plot showing the performance of each
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// save the resulting wifi-models to XML for later re-use during the walk-eval <<<<<< !!!!
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if (1 == 1) {
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// // use walks?
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// std::vector<std::pair<std::string, std::vector<int>>> calibWalks = {
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// std::make_pair(Settings::path1a, Settings::GroundTruth::path1),
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// std::make_pair(Settings::path1b, Settings::GroundTruth::path1),
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// std::make_pair(Settings::path2a, Settings::GroundTruth::path2),
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// std::make_pair(Settings::path2b, Settings::GroundTruth::path2),
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// };
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// EvalCompareOpt2 opt1(Settings::fMap, calibWalks);
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auto remove = [] (const WiFiFingerprint& fp) -> bool {
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return fp.pos_m.z != 4;
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};
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// use fingerprints?
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bool ignoreStaircases = false;
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bool ignoreOutdoor = false;
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bool ignoreIndoor = false;
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EvalCompareOpt2 opt1(Settings::fMap, Settings::fCalib, remove);
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EvalCompareOpt2::Result s1 = opt1.fixedPosFixedParamsForAll(); //BREAK;
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EvalCompareOpt2::Result s2 = opt1.fixedPosOptParamsForAll(); //BREAK;
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EvalCompareOpt2::Result s3 = opt1.fixedPosOptParamsForEach(); //BREAK;
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EvalCompareOpt2::Result s4 = opt1.optPosOptParamsForEach(); //BREAK;
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// save models to file
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s1.model.saveXML(Settings::wifiAllFixed);
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s2.model.saveXML(Settings::wifiAllOptPar);
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s3.model.saveXML(Settings::wifiEachOptPar);
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s4.model.saveXML(Settings::wifiEachOptParPos);
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PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
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pef.add("\\small{empiric}", &s1.errSingle);
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pef.add("\\small{real pos, opt params}", &s2.errSingle);
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pef.add("\\small{real pos, opt params [per AP]}", &s3.errSingle);
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pef.add("\\small{opt pos, opt params [per AP]}", &s4.errSingle);
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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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return;
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//sleep(1000);
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}
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// REPLACED BY EVAL OPT 2
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// // perform varios AP-param optimizations
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// // generate error plot showing the performance of each
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// // save the resulting wifi-models to XML for later re-use during the walk-eval <<<<<< !!!!
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// if (1 == 0) {
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// bool ignoreStaircases = false;
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// bool ignoreOutdoor = false;
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// bool ignoreIndoor = false;
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// // use walks?
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//// std::vector<std::pair<std::string, std::vector<int>>> calibWalks = {
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//// std::make_pair(Settings::path1a, Settings::GroundTruth::path1),
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//// std::make_pair(Settings::path1b, Settings::GroundTruth::path1),
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//// std::make_pair(Settings::path2a, Settings::GroundTruth::path2),
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//// std::make_pair(Settings::path2b, Settings::GroundTruth::path2),
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//// };
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//// EvalCompareOpt opt1(Settings::fMap, calibWalks);
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// // use fingerprints?
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// EvalCompareOpt opt1(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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// EvalCompareOpt::Result s1 = opt1.fixedPosFixedParamsForAll(); //BREAK;
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// EvalCompareOpt::Result s2 = opt1.fixedPosOptParamsForAll(); //BREAK;
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// EvalCompareOpt::Result s3 = opt1.fixedPosOptParamsForEach(); //BREAK;
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// EvalCompareOpt::Result s4 = opt1.optPosOptParamsForEach(); //BREAK;
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// ignoreStaircases = true;
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// ignoreOutdoor = true;
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// EvalCompareOpt opt2(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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// EvalCompareOpt::Result s4b = opt2.optPosOptParamsForEach(); //BREAK;
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// // save models to file
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// s1.model.saveXML(Settings::wifiAllFixed);
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// s2.model.saveXML(Settings::wifiAllOptPar);
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// s3.model.saveXML(Settings::wifiEachOptPar);
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// s4.model.saveXML(Settings::wifiEachOptParPos);
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// s4b.model.saveXML(Settings::wifiEachOptParPosNoStairNoOut);
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// PlotErrFunc pef("\\small{error (dB)}", "\\small{fingerprints (\\%)}");
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// pef.add("\\small{empiric}", s1.errAbs);
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// pef.add("\\small{real pos, opt params}", s2.errAbs);
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// pef.add("\\small{real pos, opt params [per AP]}", s3.errAbs);
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// pef.add("\\small{opt pos, opt params [per AP]}", s4.errAbs);
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// pef.add("\\small{opt pos, opt params [per AP, no stair, no out]}", s4b.errAbs);
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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==0){
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EvalCompareOpt e1(Settings::fMap, Settings::fCalib, false, false, false);
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EvalCompareOpt e2(Settings::fMap, Settings::fCalib, true, false, false);
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EvalCompareOpt e3(Settings::fMap, Settings::fCalib, false, true, false);
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EvalCompareOpt e4(Settings::fMap, Settings::fCalib, true, true, false);
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K::Statistics<float> s1 = e1.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s2 = e2.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s3 = e3.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s4 = e4.optPosOptParamsForEach().errAbs;
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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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// wifi issue for path1
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if (1 == 0) {
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Offline::FileReader reader(Settings::path1a);
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PlotWifiMeasurements plot;
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for (int i = 0; i < 60; ++i) {
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const WiFiMeasurements mes = reader.getWiFiGroupedByTime().at(i).data;
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const WiFiMeasurements mes2 = Settings::WiFiModel::vg_eval.group(mes);
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plot.add(mes2);
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}
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K::GnuplotObjectRectangle rect(
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K::GnuplotCoordinate2(0, K::GnuplotCoordinateSystem::FIRST, 0, K::GnuplotCoordinateSystem::GRAPH),
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K::GnuplotCoordinate2(10, K::GnuplotCoordinateSystem::FIRST, 1, K::GnuplotCoordinateSystem::GRAPH),
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K::GnuplotFill(K::GnuplotFillStyle::SOLID, K::GnuplotColor::fromRGB(128,128,128), 0.5),
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K::GnuplotStroke()
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);
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plot.getPlot().setGrid(true);
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plot.getPlot().setLegend(false);
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plot.getPlot().getObjects().add(&rect);
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plot.plot();
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sleep(100);
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}
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}
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void testWAF() {
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Floorplan::Ceilings ceilings;
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ceilings.addCeiling(3);
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ceilings.addCeiling(6);
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ceilings.addCeiling(9);
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ceilings.addCeiling(12);
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K::Gnuplot gp;
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K::GnuplotPlot gplot;
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K::GnuplotPlotElementLines lines; gplot.add(&lines);
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const Point3 posAP(0, 0, 8);
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for (float z = 0; z < 15; z += 0.1) {
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const Point3 posMe(0, 0, z);
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float factor = ceilings.numCeilingsBetweenFloat(posAP, posMe);
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lines.add({z, factor});
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}
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gp.draw(gplot);
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gp.flush();
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sleep(1000);
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}
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int main(void) {
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//testWAF();
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//paperOutputs(); // return 0;
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// calib error in/out
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if (1 == 0) {
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// outdoor only
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bool ignoreStaircases = true;
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bool ignoreOutdoor = false;
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bool ignoreIndoor = true;
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EvalCompareOpt opt1(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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EvalCompareOpt::Result s1 = opt1.optPosOptParamsForEach();
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std::cout << s1.errAbs.asString() << std::endl;
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// stairs only
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ignoreStaircases = false;
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ignoreOutdoor = true;
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ignoreIndoor = true;
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EvalCompareOpt opt3(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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EvalCompareOpt::Result s3 = opt3.optPosOptParamsForEach();
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std::cout << s3.errAbs.asString() << std::endl;
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// indoor only
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ignoreStaircases = true;
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ignoreOutdoor = true;
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ignoreIndoor = false;
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EvalCompareOpt opt2(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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EvalCompareOpt::Result s2 = opt2.optPosOptParamsForEach();
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std::cout << s2.errAbs.asString() << std::endl;
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}
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// walks
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if (1 == 0) {
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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 == 1) {
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EvalWiFi ew1(Settings::fMap, Settings::path1a, Settings::GroundTruth::path1);
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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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//ew1.load(Settings::wifiEachOptParPos);
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ew1.load(Settings::wifiAllFixed, "empirc");
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ew1.load(Settings::wifiAllOptPar, "opt params all APs");
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ew1.load(Settings::wifiEachOptPar, "opt params each AP");
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ew1.load(Settings::wifiEachOptParPos, "everything opt");
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sleep(1000);
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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 == 0) {
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const bool ignoreStaircases = false;
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const bool ignoreOutdoor = false;
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const bool ignoreIndoor = false;
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EvalCompareOpt opt(Settings::fMap, Settings::fCalib, ignoreStaircases, ignoreOutdoor, ignoreIndoor);
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EvalCompareOpt::Result s1 = opt.fixedPosFixedParamsForAll(); //BREAK;
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EvalCompareOpt::Result s2 = opt.fixedPosOptParamsForAll(); //BREAK;
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EvalCompareOpt::Result s3 = opt.fixedPosOptParamsForEach(); //BREAK;
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EvalCompareOpt::Result s4 = opt.optPosOptParamsForEach(); //BREAK;
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PlotErrFunc pef("error (dB)", "fingerprints (%)");
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pef.add("empiric", &s1.errAbs);
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pef.add("real pos, opt params [same for all]", &s2.errAbs);
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pef.add("real pos, opt params [for each]", &s3.errAbs);
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pef.add("opt pos, opt params [for each]", &s4.errAbs);
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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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EvalCompareOpt e1(Settings::fMap, Settings::fCalib, false, false, false);
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EvalCompareOpt e2(Settings::fMap, Settings::fCalib, true, false, false);
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EvalCompareOpt e3(Settings::fMap, Settings::fCalib, false, true, false);
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EvalCompareOpt e4(Settings::fMap, Settings::fCalib, true, true, false);
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K::Statistics<float> s1 = e1.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s2 = e2.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s3 = e3.optPosOptParamsForEach().errAbs;
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K::Statistics<float> s4 = e4.optPosOptParamsForEach().errAbs;
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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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