FHWS/YASMIN
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fixed some minor bugs using ble on android

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added BLE to the evaluation of the particle filter
made first evaluation inside fhws
This commit is contained in:
mail@toni-fetzer.de
2019-06-10 16:58:24 +02:00
parent ef6066ae14
commit 7fe0f22a6e
9 changed files with 311 additions and 231 deletions
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154
Settings.h
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@@ -4,6 +4,7 @@
#include <Indoor/grid/GridPoint.h>
#include <Indoor/data/Timestamp.h>
#include <Indoor/sensors/radio/VAPGrouper.h>
#include <Indoor/sensors/beacon/BeaconMeasurementGrouper.h>
#include <QFile>
#include <QDir>
@@ -12,114 +13,123 @@ namespace Settings {
const int numParticles = 5000;
namespace IMU {
const float turnSigma = 1.5; // 3.5
const float stepLength = 0.80;
namespace IMU {
const float turnSigma = 1.5; // 3.5
const float stepLength = 0.80;
const float stepSigma = 0.40; //toni changed
}
}
const float smartphoneAboveGround = 1.3;
const float smartphoneAboveGround = 1.3;
const float offlineSensorSpeedup = 2;
const float offlineSensorSpeedup = 2;
namespace Grid {
constexpr int gridSize_cm = 20;
}
namespace Grid {
constexpr int gridSize_cm = 20;
}
//const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination
const GridPoint destination = GridPoint(0,0,0); // do not use destination
//const GridPoint destination = GridPoint(70*100, 35*100, 0*100); // use destination
const GridPoint destination = GridPoint(0,0,0); // do not use destination
namespace SensorDebug {
const Timestamp updateEvery = Timestamp::fromMS(200);
}
namespace SensorDebug {
const Timestamp updateEvery = Timestamp::fromMS(200);
}
namespace WiFiModel {
namespace WiFiModel {
constexpr float sigma = 10.0; //TODO: im Museum hatten wir 8.0
/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
/** if the wifi-signal-strengths are stored on the grid-nodes, this needs a grid rebuild! */
constexpr float TXP = -45;
constexpr float EXP = 2.3;
constexpr float WAF = -5.0;
// how to perform VAP grouping. see
// - calibration in Controller.cpp
// - eval in Filter.h
// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
// how to perform VAP grouping. see
// - calibration in Controller.cpp
// - eval in Filter.h
// NOTE: maybe the UAH does not allow valid VAP grouping? delete the grid and rebuild without!
const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO, VAPGrouper::Aggregation::AVERAGE);
// const VAPGrouper vg_calib = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
// const VAPGrouper vg_eval = VAPGrouper(VAPGrouper::Mode::DISABLED, VAPGrouper::Aggregation::AVERAGE);
}
}
namespace BLEModel {
constexpr float sigma = 8.0;
namespace MapView3D {
const int maxColorPoints = 10000;
constexpr int fps = 15;
const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
}
constexpr float TXP = -59;
constexpr float EXP = 2.3;
constexpr float WAF = -9.0;
namespace Filter {
const Timestamp updateEvery = Timestamp::fromMS(500);
constexpr bool useMainThread = false; // perform filtering in the main thread
}
const BeaconMeasurementGrouper vg_eval = BeaconMeasurementGrouper(BeaconMeasurementGrouper::Mode::DISABLED, BeaconMeasurementGrouper::Aggregation::AVERAGE);
}
namespace Data {
namespace MapView3D {
const int maxColorPoints = 10000;
constexpr int fps = 15;
const Timestamp msPerFrame = Timestamp::fromMS(1000/fps);
}
// notes
// copy: scp -P 2222 /tmp/grid.dat kazu@192.168.24.11:/storage/sdcard1/YASMIN/maps/car/
// all: scp -P 2222 -r /apps/android/workspace/YASMIN_DATA/* kazu@192.168.24.11:/storage/sdcard1/YASMIN/
namespace Filter {
const Timestamp updateEvery = Timestamp::fromMS(500);
constexpr bool useMainThread = false; // perform filtering in the main thread
}
static inline std::string getRoot() {
#ifdef ANDROID
// const std::string folder = getenv("EXTERNAL_STORAGE") + std::string("/YASMIN/maps/"); // this is NOT the sdcard?!
// qDebug(folder.c_str());
// return folder;
//return "/storage/sdcard1/YASMIN/";
//const std::string f1 = "/storage/sdcard1/YASMIN/";
//const std::string f2 = "/sdcard/YASMIN/";
//if (QFile(f1.c_str()).exists()) {return f1;}
//if (QFile(f2.c_str()).exists()) {return f2;}
std::string tried;
QDir dStorage("/storage");
QStringList lst = dStorage.entryList();
namespace Data {
// notes
// copy: scp -P 2222 /tmp/grid.dat kazu@192.168.24.11:/storage/sdcard1/YASMIN/maps/car/
// all: scp -P 2222 -r /apps/android/workspace/YASMIN_DATA/* kazu@192.168.24.11:/storage/sdcard1/YASMIN/
static inline std::string getRoot() {
#ifdef ANDROID
// const std::string folder = getenv("EXTERNAL_STORAGE") + std::string("/YASMIN/maps/"); // this is NOT the sdcard?!
// qDebug(folder.c_str());
// return folder;
//return "/storage/sdcard1/YASMIN/";
//const std::string f1 = "/storage/sdcard1/YASMIN/";
//const std::string f2 = "/sdcard/YASMIN/";
//if (QFile(f1.c_str()).exists()) {return f1;}
//if (QFile(f2.c_str()).exists()) {return f2;}
std::string tried;
QDir dStorage("/storage");
QStringList lst = dStorage.entryList();
lst.append("sdcard/YASMIN/");
lst.append("emulated/0");
//TODO: THIS IS A MESS, PURE CHAOS xD
// try each potential folder
for (const QString subfolder : lst) {
QString path = dStorage.path() + "/" + subfolder + "/YASMIN/";
if (QFile(path).exists()) {return path.toStdString();}
tried += path.toStdString() + "\n";
}
throw Exception("data folder missing. tried:\n" + tried);
#else
//return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
return "/apps/android/workspace/YASMIN_DATA/";
#endif
}
// try each potential folder
for (const QString subfolder : lst) {
QString path = dStorage.path() + "/" + subfolder + "/YASMIN/";
if (QFile(path).exists()) {return path.toStdString();}
tried += path.toStdString() + "\n";
}
throw Exception("data folder missing. tried:\n" + tried);
#else
//return "/home/toni/Documents/programme/localization/YASMIN/YASMIN_DATA/";
return "/apps/android/workspace/YASMIN_DATA/";
#endif
}
/** get the directory where maps are stored */
static inline std::string getMapDir() {
return getRoot() + "maps/";
}
/** get the directory where maps are stored */
static inline std::string getMapDir() {
return getRoot() + "maps/";
}
static inline std::string getOfflineDir() {
return getRoot() + "offline/";
}
static inline std::string getOfflineDir() {
return getRoot() + "offline/";
}
static inline std::string getRecordsDir() {
return getRoot() + "records/";
}
static inline std::string getRecordsDir() {
return getRoot() + "records/";
}
}
}
}