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activity now debugable

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filter is updated every step and every 1000 ms an evaluation is calculated
also added sink or swim method from frank, works great
This commit is contained in:
toni
2018-07-23 15:56:12 +02:00
parent 6ed487e730
commit b9b9d8f9ac
7 changed files with 99 additions and 29 deletions
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2
Controller.cpp
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@@ -228,7 +228,7 @@ WiFiModel* buildWiFiModelOnce(Floorplan::IndoorMap* map, const std::string& fpFi
WiFiModelFactory fac(map);
if(wifiModel){delete wifiModel;}
wifiModel = (WiFiModelLogDistCeiling*) fac.loadXML(wifiModelFile);
wifiModel = fac.loadXML(wifiModelFile);
}
} else {

2
Settings.h
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@@ -10,7 +10,7 @@
namespace Settings {
const int numParticles = 2500;
const int numParticles = 5000;
namespace IMU {
const float turnSigma = 1.5; // 3.5

20
nav/mesh/FilterMesh.h
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@@ -21,6 +21,7 @@
#include <Indoor/navMesh/NavMesh.h>
#include <Indoor/navMesh/walk/NavMeshWalkSimple.h>
#include <Indoor/navMesh/walk/NavMeshWalkSinkOrSwim.h>
#include "State.h"
#include "../Observation.h"
@@ -74,7 +75,8 @@ namespace MeshBased {
public:
using MyNavMeshWalk = NM::NavMeshWalkSimple<NM::NavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkSimple<NM::NavMeshTriangle>;
using MyNavMeshWalk = NM::NavMeshWalkSinkOrSwim<NM::NavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkWifiRegional<NM::NavMeshTriangle>;
//using MyNavMeshWalk = NM::NavMeshWalkUnblockable<NM::NavMeshTriangle>;
MyNavMeshWalk walker;
@@ -87,8 +89,8 @@ namespace MeshBased {
PFTrans(NM::NavMesh<NM::NavMeshTriangle>* mesh) : walker(*mesh){
// how to evaluate drawn points
//walker.addEvaluator(new NM::WalkEvalHeadingStartEndNormal<MyNavMeshTriangle>(0.04));
//walker.addEvaluator(new NM::WalkEvalDistance<MyNavMeshTriangle>(0.1));
walker.addEvaluator(new NM::WalkEvalHeadingStartEndNormal<NM::NavMeshTriangle>(0.04));
walker.addEvaluator(new NM::WalkEvalDistance<NM::NavMeshTriangle>(0.1));
//walker.addEvaluator(new NM::WalkEvalApproachesTarget<MyNavMeshTriangle>(0.9)); // 90% for particles moving towards the target
}
@@ -143,7 +145,7 @@ namespace MeshBased {
double getStairProb(const SMC::Particle<MyState>& p, const Activity act) {
const float kappa = 0.75;
const float kappa = 0.9;
switch (act) {
@@ -167,9 +169,9 @@ namespace MeshBased {
public:
//TODO: Was ist hier besser? Im Museum hatten wir das unterste.
//PFEval(WiFiModel* wifiModel) : wifiModel(*wifiModel), wifiProbability(Settings::WiFiModel::sigma, *wifiModel){}
PFEval(WiFiModel* wifiModel) : wifiModel(*wifiModel), wifiProbability(Settings::WiFiModel::sigma, *wifiModel){}
//PFEval(WiFiModel* wifiModel) : wifiModel(*wifiModel), wifiProbability(Settings::WiFiModel::sigma, *wifiModel, WiFiObserverFree::EvalDist::EXPONENTIAL){}
PFEval(WiFiModel* wifiModel) : wifiModel(*wifiModel), wifiProbability(Settings::WiFiModel::sigma, *wifiModel, WiFiObserverFree::EvalDist::CAPPED_NORMAL_DISTRIBUTION){}
//PFEval(WiFiModel* wifiModel) : wifiModel(*wifiModel), wifiProbability(Settings::WiFiModel::sigma, *wifiModel, WiFiObserverFree::EvalDist::CAPPED_NORMAL_DISTRIBUTION){}
double evaluation(std::vector<SMC::Particle<MyState>>& particles, const MyObservation& _observation) override {
@@ -182,7 +184,7 @@ namespace MeshBased {
const WiFiMeasurements wifiObs = Settings::WiFiModel::vg_eval.group(observation.wifi);
// sanity check
Assert::equal((int)particles.size(), Settings::numParticles, "number of particles does not match the settings!");
//Assert::equal((int)particles.size(), Settings::numParticles, "number of particles does not match the settings!");
// assign weights
#pragma omp parallel for num_threads(3)
@@ -193,7 +195,9 @@ namespace MeshBased {
const double pStair = getStairProb(p, observation.activity);
const double pGPS = 1;
const double prob = pWifi; // * pStair * pGPS;
//TODO: reduziere das gewicht von partikelen die durch sample imp. oder was anderes sehr weit gesprungen sind.
const double prob = pWifi * pStair * pGPS;
p.weight *= prob;
if (p.weight != p.weight) {throw Exception("nan");}

71
nav/mesh/NavControllerMesh.cpp
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@@ -22,6 +22,9 @@
#include <Indoor/navMesh/NavMeshTriangle.h>
#include <Indoor/floorplan/v2/Floorplan.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingPercent.h>
#include <Indoor/smc/filtering/resampling/ParticleFilterResamplingKDE.h>
//#ifndef ANDROID
//#include <valgrind/callgrind.h>
//#endif
@@ -38,12 +41,16 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
std::unique_ptr<SMC::ParticleFilterInitializer<MeshBased::MyState>> init(new MeshBased::PFInit(navMesh));
// estimation
std::unique_ptr<SMC::ParticleFilterEstimationWeightedAverage<MeshBased::MyState>> estimation(new SMC::ParticleFilterEstimationWeightedAverage<MeshBased::MyState>());
//std::unique_ptr<SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
//std::unique_ptr<SMC::ParticleFilterEstimationWeightedAverage<MeshBased::MyState>> estimation(new SMC::ParticleFilterEstimationWeightedAverage<MeshBased::MyState>());
std::unique_ptr<SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>> estimation(new SMC::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.5));
// resampling
std::unique_ptr<SMC::ParticleFilterResamplingSimple<MyState>> resample(new SMC::ParticleFilterResamplingSimple<MyState>());
//std::unique_ptr<SMC::ParticleFilterResamplingPercent<MyState>> resample(new SMC::ParticleFilterResamplingPercent<MyState>(0.05));
//std::unique_ptr<SMC::ParticleFilterResamplingKDE<MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingKDE<MyState, NM::NavMeshTriangle>(navMesh, 0.2, Point2(1,1)));
//std::unique_ptr<SMC::ParticleFilterResamplingKLD<MyState>> resample(new SMC::ParticleFilterResamplingKLD<MyState>());
//std::unique_ptr<SMC::ParticleFilterResamplingPercent<MyState>> resample(new SMC::ParticleFilterResamplingPercent<MyState>(0.95));
//std::unique_ptr<SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>> resample(new SMC::ParticleFilterResamplingSimpleImpoverishment<MeshBased::MyState, NM::NavMeshTriangle>());
// eval and transition
@@ -57,7 +64,7 @@ MeshBased::NavControllerMesh::NavControllerMesh(Controller* mainController, Floo
pf->setEstimation(std::move(estimation));
pf->setResampling(std::move(resample));
pf->setNEffThreshold(0.85); //before 0.75, edit by toni
pf->setNEffThreshold(0.75); //before 0.75, edit by toni
//pf->setNEffThreshold(0.65); // still too low?
//pf->setNEffThreshold(0.25); // too low
@@ -164,7 +171,7 @@ void MeshBased::NavControllerMesh::onSensorData(Sensor<ActivityData>* sensor, co
(void) ts;
curCtrl.activity = data.curActivity;
curObs.activity = data.curActivity;
//debugActivity(data.curActivity);
debugActivity(data.curActivity);
gotSensorData(ts);
}
@@ -174,16 +181,17 @@ void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
if (Settings::Filter::useMainThread) {filterUpdateIfNeeded();}
}
// void debugActivity(const ActivityData& activity) {
// QString act;
// switch(activity.curActivity) {
// case Activity::STANDING: act = "STAY"; break;
// case Activity::WALKING_DOWN: act = "DOWN"; break;
// case Activity::WALKING_UP: act = "UP"; break;
// default: act = "???"; break;
// }
// Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
// }
void MeshBased::NavControllerMesh::debugActivity(const ActivityData& activity) {
QString act;
switch(activity.curActivity) {
case Activity::STANDING: act = "STAY"; break;
case Activity::WALKING: act = "WALK"; break;
case Activity::WALKING_DOWN: act = "DOWN"; break;
case Activity::WALKING_UP: act = "UP"; break;
default: act = "???"; break;
}
Assert::isTrue(QMetaObject::invokeMethod(mainController->getInfoWidget(), "showActivity", Qt::QueuedConnection, Q_ARG(const QString&, act)), "call failed");
}
/** particle-filter update loop */
void MeshBased::NavControllerMesh::filterUpdateLoop() {
@@ -221,7 +229,7 @@ void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
lastTransition = curObs.currentTime;
const Timestamp ts1 = Timestamp::fromUnixTime();
filterUpdate();
filterUpdate();
const Timestamp ts2 = Timestamp::fromUnixTime();
const Timestamp tsDiff = ts2-ts1;
const QString filterTime = QString::number(diff.ms());
@@ -231,7 +239,17 @@ void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
return true;
} else {
} else if(diff >= Timestamp::fromMS(1000)) {
filterUpdateEstimationOnly();
lastTransition = curObs.currentTime;
const QString evalUpdate = "evalUpdate";
QMetaObject::invokeMethod(mainController->getInfoWidget(), "showFilterTime", Qt::QueuedConnection, Q_ARG(const QString&, evalUpdate));
return true;
} else {
return false;
@@ -241,6 +259,25 @@ void MeshBased::NavControllerMesh::gotSensorData(const Timestamp ts) {
DijkstraPath<MyGridNode> pathToDest;
void MeshBased::NavControllerMesh::filterUpdateEstimationOnly() {
//lastEst = curEst;
MyState sCurEst = pf->updateEvaluationOnly(curObs);
curEst.pos_m = sCurEst.loc.pos;
curEst.head = sCurEst.heading;
// inform listeners about the new estimation
for (NavControllerListener* l : listeners) {l->onNewEstimation(curEst.pos_m);}
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "showParticles", Qt::QueuedConnection, Q_ARG(const void*, &pf->getParticles())), "call failed");
// update estimated path
estPath.push_back(curEst.pos_m);
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView3D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
Assert::isTrue(QMetaObject::invokeMethod(mainController->getMapView2D(), "setPathWalked", Qt::QueuedConnection, Q_ARG(const void*, &estPath)), "call failed");
}
/** perform a filter-update (called from a background-loop) */
void MeshBased::NavControllerMesh::filterUpdate() {

5
nav/mesh/NavControllerMesh.h
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@@ -68,7 +68,7 @@ namespace MeshBased {
/** called when any sensor has received new data */
void gotSensorData(const Timestamp ts);
// void debugActivity(const ActivityData& activity);
void debugActivity(const ActivityData& activity);
/** particle-filter update loop */
void filterUpdateLoop();
@@ -79,6 +79,9 @@ namespace MeshBased {
/** perform a filter-update (called from a background-loop) */
void filterUpdate();
/** perform a filter-update only with estimation (called from a background-loop) */
void filterUpdateEstimationOnly();
/** UI update loop */
void updateMapViewLoop();

26
nav/mesh/State.h
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@@ -38,6 +38,32 @@ namespace MeshBased {
return copy;
}
float getX(){
return loc.pos.x;
}
float getY() {
return loc.pos.y;
}
float getZ() {
return loc.pos.z;
}
void setPosition(Point3 pos){
loc.pos = pos;
}
float getBinValue(const int dim) const {
switch (dim) {
case 0: return this->loc.pos.x;
case 1: return this->loc.pos.y;
case 2: return this->loc.pos.z;
case 3: return this->heading.getRAD();
}
throw "cant find this value within the bin";
}
};

2
yasmin.pro
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@@ -22,7 +22,7 @@ ANDROID {
#QMAKE_CXXFLAGS += -mtune=cortex-a57
#QMAKE_CFLAGS += -mtune=cortex-a57
#QMAKE_CXXFLAGS += -O2
QMAKE_CXXFLAGS += -O2
#QMAKE_CFLAGS += -O3
#QMAKE_CXXFLAGS_DEBUG -= -O2