strange bug... a lot of zero weight particles
This commit is contained in:
toni
157
navMesh/main.h
157
navMesh/main.h
@@ -3,27 +3,80 @@
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#include "mesh.h"
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#include "filter.h"
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#include "../Settings.h"
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#include <memory>
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#include <thread>
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#include <Indoor/floorplan/v2/FloorplanReader.h>
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#include <Indoor/sensors/radio/model/WiFiModelLogDistCeiling.h>
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#include <Indoor/sensors/offline/FileReader.h>
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#include <Indoor/geo/Heading.h>
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#include <Indoor/geo/Point2.h>
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#include <Indoor/sensors/imu/TurnDetection.h>
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#include <Indoor/sensors/imu/StepDetection.h>
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#include <Indoor/sensors/imu/MotionDetection.h>
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#include <Indoor/sensors/pressure/RelativePressure.h>
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#include <Indoor/data/Timestamp.h>
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#include <Indoor/sensors/radio/setup/WiFiOptimizerLogDistCeiling.h>
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void navMeshMain() {
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std::string mapFile = "/apps/paper/diss/data/maps/museum31.xml";
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//std::string mapFile = "/apps/paper/diss/data/maps/museum31.xml";
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std::string mapFile = "../map/map42_ap.xml";
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// reading file
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Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(mapFile);
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Offline::FileReader fr("../measurements/museum/Pixel/Path1_2468.csv");
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WiFiFingerprints fingerprints("../measurements/museum/Nexus/fingerprints/wifi_fp.dat");
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const std::string wifiModelFile = "../measurements/museum/wifimodel.dat";
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std::ifstream inp(wifiModelFile, std::ifstream::binary);
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// wifi
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WiFiModelLogDistCeiling WiFiModel(map);
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// with optimization
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if(Settings::WiFiModel::optimize){
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if (!inp.good() || (inp.peek()&&0) || inp.eof()) {
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Assert::isFalse(fingerprints.getFingerprints().empty(), "no fingerprints available!");
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WiFiOptimizer::LogDistCeiling opt(map, Settings::WiFiModel::vg_calib);
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for (const WiFiFingerprint& fp : fingerprints.getFingerprints()) {
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opt.addFingerprint(fp);
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}
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const WiFiOptimizer::LogDistCeiling::APParamsList res = opt.optimizeAll(opt.NONE);
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for (const WiFiOptimizer::LogDistCeiling::APParamsMAC& ap : res.get()) {
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const WiFiModelLogDistCeiling::APEntry entry(ap.params.getPos(), ap.params.txp, ap.params.exp, ap.params.waf);
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WiFiModel.addAP(ap.mac, entry);
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}
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WiFiModel.saveXML(wifiModelFile);
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} else {
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WiFiModel.loadXML(wifiModelFile);
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}
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} else {
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// without optimization
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WiFiModel.loadAPs(map, Settings::WiFiModel::TXP, Settings::WiFiModel::EXP, Settings::WiFiModel::WAF);
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Assert::isFalse(WiFiModel.getAllAPs().empty(), "no AccessPoints stored within the map.xml");
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}
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// mesh
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NM::NavMeshSettings set;
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MyNavMesh mesh;
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MyNavMeshFactory fac(&mesh, set);
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fac.build(map);
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const Point3 src(26, 43, 7.5);
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const Point3 srcPath0(26, 43, 7.5);
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const Point3 srcPath1(62, 38, 1.8);
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// add shortest-path to destination
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//const Point3 dst(51, 45, 1.7);
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const Point3 dst(25, 45, 0);
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NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);
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//const Point3 dst(25, 45, 0);
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//NM::NavMeshDijkstra::stamp<MyNavMeshTriangle>(mesh, dst);
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// debug show
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NM::NavMeshDebug dbg;
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@@ -32,13 +85,13 @@ void navMeshMain() {
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dbg.draw();
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// particle-filter
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const int numParticles = 1000;
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auto init = std::make_unique<MyPFInitFixed>(&mesh, src); // known position
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//auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
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auto eval = std::make_unique<MyPFEval>();
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const int numParticles = 1000;
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//auto init = std::make_unique<MyPFInitFixed>(&mesh, srcPath1); // known position
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auto init = std::make_unique<MyPFInitUniform>(&mesh); // uniform distribution
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auto eval = std::make_unique<MyPFEval>(WiFiModel);
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auto trans = std::make_unique<MyPFTrans>(mesh);
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auto resample = std::make_unique<K::ParticleFilterResamplingSimple<MyState>>();
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auto estimate = std::make_unique<K::ParticleFilterEstimationWeightedAverage<MyState>>();
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auto resample = std::make_unique<SMC::ParticleFilterResamplingSimple<MyState>>();
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auto estimate = std::make_unique<SMC::ParticleFilterEstimationWeightedAverage<MyState>>();
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// setup
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MyFilter pf(numParticles, std::move(init));
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@@ -46,49 +99,85 @@ void navMeshMain() {
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pf.setTransition(std::move(trans));
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pf.setResampling(std::move(resample));
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pf.setEstimation(std::move(estimate));
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pf.setNEffThreshold(1);
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pf.setNEffThreshold(1);
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// sensors
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MyControl ctrl;
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MyObservation obs;
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//Distribution::Uniform<float> dHead(0, 2*M_PI);
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Distribution::Normal<float> dHead(0, 0.1);
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StepDetection sd;
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PoseDetection pd;
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TurnDetection td(&pd);
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RelativePressure relBaro;
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relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
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Timestamp lastTimestamp = Timestamp::fromMS(0);
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for (int i = 0; i < 10000; ++i) {
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// parse each sensor-value within the offline data
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for (const Offline::Entry& e : fr.getEntries()) {
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ctrl.numStepsSinceLastEval = 1;
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ctrl.headingChangeSinceLastEval = dHead.draw();
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const Timestamp ts = Timestamp::fromMS(e.ts);
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MyState est = pf.update(&ctrl, obs);
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if (e.type == Offline::Sensor::WIFI) {
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obs.wifi = fr.getWiFiGroupedByTime()[e.idx].data;
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ctrl.afterEval();
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} else if (e.type == Offline::Sensor::ACC) {
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if (sd.add(ts, fr.getAccelerometer()[e.idx].data)) {
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++ctrl.numStepsSinceLastEval;
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}
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const Offline::TS<AccelerometerData>& _acc = fr.getAccelerometer()[e.idx];
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pd.addAccelerometer(ts, _acc.data);
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try {
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MyNavMeshLocation loc = mesh.getLocationNearestTo(est.pos.pos);
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auto path = loc.tria->getPathToDestination<MyNavMeshTriangle>(loc.pos);
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dbg.addDijkstra(path);
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} catch (...) {;}
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} else if (e.type == Offline::Sensor::GYRO) {
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const Offline::TS<GyroscopeData>& _gyr = fr.getGyroscope()[e.idx];
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const float delta_gyro = td.addGyroscope(ts, _gyr.data);
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const int d = (i * 1) % 360;
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dbg.plot.getView().setCamera(60, d);
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dbg.showParticles(pf.getParticles());
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dbg.setCurPos(est.pos.pos);
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ctrl.headingChangeSinceLastEval += delta_gyro;
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//dbg.gp.setOutput("/tmp/123/" + std::to_string(i) + ".png");
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//dbg.gp.setTerminal("pngcairo", K::GnuplotSize(60, 30));
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} else if (e.type == Offline::Sensor::BARO) {
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relBaro.add(ts, fr.getBarometer()[e.idx].data);
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obs.relativePressure = relBaro.getPressureRealtiveToStart();
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obs.sigmaPressure = relBaro.getSigma();
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}
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std::cout << i << std::endl;
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if (ts.ms() - lastTimestamp.ms() > 500 && ctrl.numStepsSinceLastEval > 0) {
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dbg.draw();
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obs.currentTime = ts;
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// if(ctrl.numStepsSinceLastEval > 0){
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// pf.updateTransitionOnly(&ctrl);
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// ctrl.afterEval();
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// }
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// MyState est = pf.updateEvaluationOnly(obs);
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// lastTimestamp = ts;
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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MyState est = pf.update(&ctrl, obs);
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ctrl.afterEval();
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lastTimestamp = ts;
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}
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// try {
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// MyNavMeshLocation loc = mesh.getLocationNearestTo(est.pos.pos);
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// auto path = loc.tria->getPathToDestination<MyNavMeshTriangle>(loc.pos);
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// dbg.addDijkstra(path);
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// } catch (...) {;}
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// const int d = (i * 1) % 360;
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// dbg.plot.getView().setCamera(60, d);
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dbg.showParticles(pf.getParticles());
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dbg.setCurPos(est.pos.pos);
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//dbg.gp.setOutput("/tmp/123/" + std::to_string(i) + ".png");
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//dbg.gp.setTerminal("pngcairo", K::GnuplotSize(60, 30));
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// std::cout << i << std::endl;
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dbg.draw();
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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}
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}
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#endif
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