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added activity detection

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kazu
2016-04-21 08:56:15 +02:00
parent ecd34cf6d3
commit 6f0d56fbef
10 changed files with 210 additions and 18 deletions
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4
code/eval/DebugShortestPath.h
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@@ -33,9 +33,9 @@ public:
}
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad) {
GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad, Activity act) {
GridWalkState<T> s = GridWalkShortestPathControl<T>::getDestination(grid, start, distance_m, headChange_rad);
GridWalkState<T> s = GridWalkShortestPathControl<T>::getDestination(grid, start, distance_m, headChange_rad, act);
if (this->recalc == 0){
vis.estPath.clear();

21
code/eval/FixedLagEvalBase.h
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@@ -27,9 +27,11 @@
#include "../reader/SensorReader.h"
#include "../reader/SensorReaderStep.h"
#include "../reader/SensorReaderTurn.h"
#include "../reader/SensorReaderAccel.h"
#include "../lukas/TurnObservation.h"
#include "../lukas/StepObservation.h"
#include "../lukas/ActivityDetection.h"
#include "../toni/BarometerSensorReader.h"
@@ -133,6 +135,8 @@ public:
// sensor numbers
const int s_wifi = 8; const int s_beacons = 9; const int s_barometer = 5; const int s_orientation = 6;
const int s_accel = 0;
//const int s_linearAcceleration = 2;
std::list<TurnObservation> turn_observations;
@@ -141,6 +145,9 @@ public:
//Create an BarometerSensorReader
BarometerSensorReader baroSensorReader;
// activity detection
ActivityDetection actDet;
//Read all turn Observations
while(srt->hasNext()) {
@@ -234,9 +241,17 @@ public:
case s_barometer: {
obs.barometer = baroSensorReader.readBarometer(se);
actDet.addBaro(baroSensorReader.getHPA(se));
break;
}
case s_accel: {
float acc[3];
SensorReaderAccel sre; sre.read(se, acc);
actDet.addAccel(acc);
break;
}
// case s_linearAcceleration:{
// baroSensorReader.readVerticalAcceleration(se);
// break;
@@ -267,6 +282,11 @@ public:
}
// currently detected activity
// TODO: feed sensor values!
ctrl.currentActivitiy = actDet.getCurrentActivity();
// time for a transition?
if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
@@ -365,6 +385,7 @@ public:
vis.gp << "set label 112 'baro: " << obs.barometer->hpa << "' at screen 0.1,0.2\n";
}
vis.gp << "set label 111 '" << ctrl.walked_m << ":" << ctrl.headingChange_rad << "' at screen 0.1,0.1\n";
vis.gp << "set label 112 '" << "Act: " << actDet.toString() << "' at screen 0.1,0.15\n";
//double avgAngleRad = estBF.avgAngle * 180/3.14159265359;

2
code/eval/PaperVisImportance.h
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@@ -178,7 +178,7 @@ public:
if (i % 250 == 0) {std::cout << i << std::endl;}
const MyGridNode& nStart = gnEnd;
GridWalkState<MyGridNode> sStart(&nStart, Heading::rnd());
GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0);
GridWalkState<MyGridNode> sEnd = walk.getDestination(grid, sStart, 135, 0, Activity::UNKNOWN);
(void) sEnd;
}

14
code/eval/SmoothingEvalBase.h
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@@ -394,9 +394,10 @@ public:
oSError.close();
// plot-data
std::ofstream oPath("/tmp/path_" + runName + ".dat"); vis.groundTruth.addDataTo(oPath); oPath.close();
std::ofstream oEst("/tmp/est_" + runName + ".dat"); vis.estPath.addDataTo(oEst); oEst.close();
std::ofstream oFloor("/tmp/floors.dat"); vis.floors.addDataTo(oFloor); oFloor.close();
std::ofstream oPath("/tmp/path_" + runName + ".dat"); vis.groundTruth.addDataTo(oPath); oPath.close(); // ground truth
std::ofstream oEstN("/tmp/est_norm" + runName + ".dat"); vis.estPath.addDataTo(oEstN); oEstN.close(); // estimation via filter itself
std::ofstream oEstS("/tmp/est_smooth" + runName + ".dat"); vis.smoothPath.addDataTo(oEstS); oEstS.close(); // estimation via smoothing
std::ofstream oFloor("/tmp/floors.dat"); vis.floors.addDataTo(oFloor); oFloor.close();
std::ofstream oPlot("/tmp/plot_" + runName + ".gp");
@@ -416,9 +417,10 @@ public:
oPlot << "unset ztics\n";
oPlot << "splot \\\n";
oPlot << "'floors.dat' skip 21 notitle with lines lc rgb '#777777', \\\n";
oPlot << "'path_fixed_interval.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
oPlot << "'est_fixed_interval.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099' ";
oPlot << "'floors.dat' skip 21 notitle with lines lc rgb '#777777', \\\n";
oPlot << "'path_fixed_interval.dat' skip 21 notitle with lines lw 2.5 dashtype 2 lc rgb '#007700', \\\n";
oPlot << "'est_norm_fixed_interval.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000099', ";
oPlot << "'est_smooth_fixed_interval.dat' skip 21 notitle with lines lw 2.5 lc rgb '#000000' ";
oPlot.close();
}

6
code/lukas/Activities.h Normal file
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@@ -0,0 +1,6 @@
#ifndef ACTIVITIES_H
#define ACTIVITIES_H
#endif // ACTIVITIES_H

121
code/lukas/ActivityDetection.h Normal file
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@@ -0,0 +1,121 @@
#ifndef ACTIVITYDETECTION_H
#define ACTIVITYDETECTION_H
#include <string>
#include "Activities.h"
#include <vector>
#include <Indoor/math/MovingAVG.h>
#include <Indoor/math/MovingMedian.h>
#include <KLib/math/statistics/Statistics.h>
#include <Indoor/math/Distributions.h>
/**
* classification of pedestrian activities using sensor inputs.
* sensor inputs are passed into this element
* recognized acitivities are the output
*
*/
class ActivityDetection {
private:
/** the currently detected activity */
Activity current = Activity::UNKNOWN;
K::Statistics<float> mag;
K::Statistics<float> hpa;
MovingMedian<float> hpaAvg;
public:
ActivityDetection() : hpaAvg(3) {;}
/** add accelerometer values */
void addAccel(float accel[3]) {
float magnitude = std::sqrt(accel[0]*accel[0] + accel[1]*accel[1] + accel[2]*accel[2]);
mag.add(magnitude - 9.81f);
}
/** add barometer values */
void addBaro(float hpa) {
hpaAvg.add(hpa);
float smoothed = hpaAvg.get();
this->hpa.add(smoothed);
if (this->hpa.getCount() > 50) {analyze();}
}
struct ActClass {
Activity act;
Distribution::Normal<float> barometer;
Distribution::Normal<float> magnitude;
ActClass(const Activity act, float muMag, float muBaro, float varMag, float varBaro) :
act(act), barometer(muBaro, std::sqrt(varBaro)), magnitude(muMag, std::sqrt(varMag)) {
;
}
float getProbability(const float hpaRange, const float varMag) const {
return barometer.getProbability(hpaRange) *
magnitude.getProbability(varMag);
}
};
void analyze() {
// std::vector<ActClass> classes = {
// ActClass(Activity::STANDING, 0.042118, 0.01, 0.002322, 0.001),
// ActClass(Activity::STAIRS, 3.561667, 0.035, 1.392631, 0.002), // stair up
// ActClass(Activity::STAIRS, 5.529414, -0.035, 3.416315, 0.002), // stair down
// ActClass(Activity::WALKING, 1.669506, 0.01, 0.273880, 0.001),
// };
// auto comp = [&] (const ActClass& a, const ActClass& b) {
// return a.getProbability(hpa.getRange(), mag.getStdDev()) < b.getProbability(hpa.getRange(), mag.getStdDev());
// };
// auto it = std::max_element(classes.begin(), classes.end(), comp);
// current = (*it).act;
if (mag.getStdDev() < 0.3) {
current = Activity::STANDING;
} else {
if (hpa.getRange() > 0.035) {
current = Activity::STAIRS;
} else {
current = Activity::WALKING;
}
}
// current = (Activity) idx;
mag.reset();
hpa.reset();
}
/** get the currently detected activity */
Activity getCurrentActivity() const {
return current;
}
std::string toString() const {
switch (current) {
case Activity::UNKNOWN: return "unknown";
case Activity::STANDING: return "standing";
case Activity::WALKING: return "walking";
case Activity::STAIRS: return "stairs";
case Activity::ELEVATOR: return "elevator";
}
throw "should not happen";
}
};
#endif // ACTIVITYDETECTION_H

5
code/particles/MyControl.h
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@@ -1,12 +1,17 @@
#ifndef MYCONTROL_H
#define MYCONTROL_H
#include "../lukas/Activities.h"
/** current control data for the transition step */
struct MyControl {
float walked_m = 0;
float headingChange_rad = 0;
Activity currentActivitiy = Activity::UNKNOWN;
};
#endif // MYCONTROL_H

18
code/particles/MyEvaluation.h
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@@ -71,16 +71,18 @@ public:
weight *= beaconEval.getProbability(p.state, observation);
}
if (useStep) {
weight *= stepEval.getProbability(p.state, observation.step);
}
// CONTROL!
// if (useStep) {
// weight *= stepEval.getProbability(p.state, observation.step);
// }
if (useTurn) {
weight *= turnEval.getProbability(p.state, observation.turn, true);
// CONTROL!
// if (useTurn) {
// weight *= turnEval.getProbability(p.state, observation.turn, true);
//set
p.state.angularHeadingChange = observation.turn->delta_heading;
}
// //set
// p.state.angularHeadingChange = observation.turn->delta_heading;
// }
// set and accumulate
p.weight = weight;

2
code/particles/MyTransition.h
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@@ -103,7 +103,7 @@ public:
// get new destination
//const Node3* dst = choice->getTarget(src, p.state, dist_m);
p.state.walkState = walker.getDestination(grid, p.state.walkState, control->walked_m, control->headingChange_rad );
p.state.walkState = walker.getDestination(grid, p.state.walkState, control->walked_m, control->headingChange_rad, control->currentActivitiy );
// randomly move the particle within its target grid (box)
// (z remains unchanged!)

35
code/reader/SensorReaderAccel.h Normal file
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@@ -0,0 +1,35 @@
#ifndef SENSORREADERACCEL_H
#define SENSORREADERACCEL_H
#include "../reader/SensorReader.h"
#include <cassert>
class SensorReaderAccel {
public:
/** get wifi observation data from one CSV entry */
static void read(const SensorEntry& se, float dst[3]) {
std::string tmp = se.data;
size_t pos1 = tmp.find(';');
size_t pos2 = tmp.find(';', pos1+1);
size_t pos3 = tmp.find(';', pos2+1);
if (pos1 == std::string::npos) {throw 1;}
if (pos2 == std::string::npos) {throw 1;}
dst[0] = std::stof( tmp.substr(0, pos1) );
dst[1] = std::stof( tmp.substr(pos1+1, pos2-pos1-1) );
dst[2] = std::stof( tmp.substr(pos2+1, pos3-pos2-1) );
int j = 0; (void) j;
}
};
#endif // SENSORREADERACCEL_H