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added activity detection

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This commit is contained in:
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();
}