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added activty plotting

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added particle logging
added gfx to tex
This commit is contained in:
kazu
2016-05-04 19:23:41 +02:00
parent e3d7e83159
commit a6790c3db3
9 changed files with 1588 additions and 10 deletions
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16
code/eval/FixedLagEvalBase.h
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@@ -101,6 +101,8 @@ public:
return GridPoint(p.x, p.y, p.z); return GridPoint(p.x, p.y, p.z);
} }
GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) { GroundTruthWay getGroundTruthWay(SensorReader& sr, const std::unordered_map<int, Point3>& waypoints, std::vector<int> ids) {
// construct the ground-truth-path by using all contained waypoint ids // construct the ground-truth-path by using all contained waypoint ids
@@ -206,6 +208,9 @@ public:
std::vector<float> errorsDistNorm; std::vector<float> errorsDistNorm;
std::vector<float> errorsDistSmooth; std::vector<float> errorsDistSmooth;
// acticity output
std::vector<int> activity;
// number of updates to skip before starting the smoothing process // number of updates to skip before starting the smoothing process
const int skip = 35; const int skip = 35;
@@ -321,6 +326,7 @@ public:
const float errDist = gtw.getMinDist(curEst); // minimum distance between estimation and ground-truth const float errDist = gtw.getMinDist(curEst); // minimum distance between estimation and ground-truth
activity.push_back((int)actDet.getCurrentActivity());
// count number of transitions // count number of transitions
++cnt; ++cnt;
@@ -355,6 +361,9 @@ public:
} }
//use and visualize the smoothed particle set //use and visualize the smoothed particle set
const Point3 curSmoothedEst = estBF.pCur; const Point3 curSmoothedEst = estBF.pCur;
@@ -377,6 +386,7 @@ public:
errorsSmooth.push_back(errSmoothed); errorsSmooth.push_back(errSmoothed);
errorsDistSmooth.push_back(errDistSmoothed); errorsDistSmooth.push_back(errDistSmoothed);
//std::cout << "SmoothingTime: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsSmoothing.asString() << std::endl; //std::cout << "SmoothingTime: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsSmoothing.asString() << std::endl;
//std::cout << "SmoothingDist: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsDistSmoothing.asString() << std::endl; //std::cout << "SmoothingDist: " << tsHistory[(tsHistory.size() - 1) - MiscSettings::lag] << " " << statsDistSmoothing.asString() << std::endl;
@@ -455,6 +465,12 @@ public:
oError.close(); oError.close();
} }
{ // detailled activity over time
std::ofstream oAct("/tmp/act_" + runName + ".dat");
for (int i : activity) {oAct << i << "\n";}
oAct.close();
}
// plot // plot
//vis.clearStates(); //vis.clearStates();
vis.gp.setTerminal("png", K::GnuplotSize(2560 * 2.54, 1440 * 2.54) ); vis.gp.setTerminal("png", K::GnuplotSize(2560 * 2.54, 1440 * 2.54) );

9
code/eval/SmoothingEval1.h
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@@ -2,6 +2,7 @@
#define SMOOTHINGEVAL1_H #define SMOOTHINGEVAL1_H
#include "SmoothingEvalBase.h" #include "SmoothingEvalBase.h"
#include "SmoothingEvalBaseLOG.h"
#include "FixedLagEvalBase.h" #include "FixedLagEvalBase.h"
#include "../DijkstraMapper.h" #include "../DijkstraMapper.h"
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h> #include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
@@ -21,7 +22,7 @@
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h> #include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverageWithAngle.h> #include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverageWithAngle.h>
class SmoothingEval1 : public SmoothingEvalBase { class SmoothingEval1 : public SmoothingEvalBaseLOG {
public: public:
@@ -51,9 +52,9 @@ public:
//create the backward smoothing filter //create the backward smoothing filter
bf = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles); //bf = new K::BackwardSimulation<MyState>(MiscSettings::numBSParticles);
//bf = new K::CondensationBackwardFilter<MyState>; bf = new K::CondensationBackwardFilter<MyState>;
bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>())); //bf->setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
} }

93
code/eval/SmoothingEvalBase.h → code/eval/SmoothingEvalBaseLOG.h
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@@ -1,5 +1,5 @@
#ifndef SMOOTHINGEVALBASE_H #ifndef SMOOTHINGEVALBASELOG_H
#define SMOOTHINGEVALBASE_H #define SMOOTHINGEVALBASELOG_H
#include "../Settings.h" #include "../Settings.h"
#include "../Helper.h" #include "../Helper.h"
@@ -40,7 +40,11 @@
#include "../frank/OrientationSensorReader.h" #include "../frank/OrientationSensorReader.h"
class SmoothingEvalBase { #include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
class SmoothingEvalBaseLOG {
protected: protected:
@@ -79,7 +83,73 @@ protected:
public: public:
SmoothingEvalBase() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors(grid)) { void dumpParticles(const std::string& mode, const int idx, const std::vector<K::Particle<MyState>>& particles, const Point3 curEst) {
std::string a = "/tmp/" + runName;
std::string b = a + "/particles";
std::string c = b + "/" + mode + "_" + std::to_string(idx) + ".dat";
std::string d = b + "/" + "plot" + "_" + std::to_string(idx) + ".gp";
mkdir(a.c_str(), 0777);
mkdir(b.c_str(), 0777);
std::string file = c;
// std::unordered_map<uint64_t, float> map;
// for (const K::Particle<MyState>& p : particles) {
// const float dz = std::abs(p.state.pCur.z - curEst.z);
// //if (dz > 20) {continue;} // skip particles on other levels
// const uint64_t idx = (uint64_t) p.state.pCur.z * 0xFFFFFFFFUL + (int) p.state.pCur.y * 0xFFFF + (int) p.state.pCur.x;
// //const int x = idx & 0xFFFF; if (x - p.state.pCur.x > 10) {throw 1;} // sanity check
// //const int y = idx / 0xFFFF; if (y - p.state.pCur.y > 10) {throw 1;} // sanity check
// map[idx] += p.weight;
// }
// how to plot
std::ofstream plot(d);
plot << "splot\\\n";
plot << "'filtered_" << (idx) << ".dat' every ::2 using 1:2:3:4 with points palette pt 3 notitle,\\\n";
plot << "'filtered_" << (idx) << ".dat' every ::0::0 using 1:2:3:4 with points palette pt 3 ps 5 title 'avg',\\\n";
plot << "'filtered_" << (idx) << ".dat' every ::1::1 using 1:2:3:4 with points palette pt 3 ps 3 title 'avg50',\\\n";
plot << "'smoothed_" << (idx) << ".dat' every ::2 using ($$1+1000):2:3:4 with points palette pt 7 notitle,\\\n";
plot << "'smoothed_" << (idx) << ".dat' every ::0::0 using ($$1+1000):2:3:4 with points palette pt 6 ps 5 title 'avg',\\\n";
plot << "'smoothed_" << (idx) << ".dat' every ::1::1 using ($$1+1000):2:3:4 with points palette pt 6 ps 3 title 'avg50',\\\n";
std::ofstream out(file);
// first two entries are different : avg and avg 50%
K::ParticleFilterEstimationWeightedAverage<MyState> avg;
K::ParticleFilterEstimationOrderedWeightedAverage<MyState> avg50(0.5);
const MyState sAvg = avg.estimate((std::vector<K::Particle<MyState>>&) particles);
const MyState sAvg50 = avg50.estimate((std::vector<K::Particle<MyState>>&) particles);
out << sAvg.pCur.x << " " << sAvg.pCur.y << " " << sAvg.pCur.z << " 0\n";
out << sAvg50.pCur.x << " " << sAvg50.pCur.y << " " << sAvg50.pCur.z << " 0\n";
for (const K::Particle<MyState>& p : particles) {
const float dz = std::abs(p.state.pCur.z - curEst.z);
if (dz > 20) {continue;} // skip particles on other levels
out << p.state.pCur.x << " " << p.state.pCur.y << " " << p.state.pCur.z << " " << p.weight << "\n";
}
// for (auto it : map) {
// const uint64_t idx = it.first;
// const int x = idx % 0xFFFF;
// const int y = idx / 0xFFFF % 0xFFFF;
// const int z = idx / 0xFFFF / 0xFFFF;
// out << x << " " << y << " " << z << " " << it.second << "\n";
// }
out.close();
}
void addPlotDump(const int idx, const std::string txt) {
std::string c = "/tmp/" + runName + "/" + "particles" + "/plot_" + std::to_string(idx) + ".gp";
std::ofstream out(c, std::fstream::app);
out << txt;
out.close();
}
SmoothingEvalBaseLOG() : grid(MiscSettings::gridSize_cm), floors(Helper::getFloors(grid)) {
// build the grid // build the grid
Helper::buildTheGrid(grid, floors); Helper::buildTheGrid(grid, floors);
@@ -283,6 +353,7 @@ public:
obs.currentActivity = actDet.getCurrentActivity(); obs.currentActivity = actDet.getCurrentActivity();
// time for a transition? // time for a transition?
if (se.ts - lastTransitionTS > MiscSettings::timeSteps) { if (se.ts - lastTransitionTS > MiscSettings::timeSteps) {
@@ -307,6 +378,7 @@ public:
++cnt; ++cnt;
// skip the first 24 scans due to uniform distribution start // skip the first 24 scans due to uniform distribution start
if (cnt > 35) { if (cnt > 35) {
statsFiltering.add(err); statsFiltering.add(err);
@@ -319,7 +391,10 @@ public:
//save the current estimation for later smoothing. //save the current estimation for later smoothing.
pfHistory.push_back(pf->getNonResamplingParticles()); pfHistory.push_back(pf->getNonResamplingParticles());
tsHistory.push_back(se.ts); tsHistory.push_back(se.ts);
}
dumpParticles("filtered", cnt-36, pf->getNonResamplingParticles(), curEst);
}
// plot // plot
vis.clearStates(); vis.clearStates();
@@ -376,6 +451,12 @@ public:
smoothedEst.push_back(estBF.pCur); smoothedEst.push_back(estBF.pCur);
} }
for(int t = 0; t < smoothedEst.size(); ++t){
int idx = smoothedEst.size() - 1 - t;
const Point3 curSmoothedEst = smoothedEst[idx];
dumpParticles("smoothed", t, bf->getbackwardParticles()[idx], curSmoothedEst);
}
std::reverse(smoothedEst.begin(), smoothedEst.end()); std::reverse(smoothedEst.begin(), smoothedEst.end());
for(int t = 0; t < smoothedEst.size(); ++t){ for(int t = 0; t < smoothedEst.size(); ++t){
@@ -429,6 +510,8 @@ public:
usleep(1000*33); usleep(1000*33);
} }
//statsout2.close(); //statsout2.close();
{ // detailled error-description (normally filtered) { // detailled error-description (normally filtered)

2
tex/bare_conf.tex
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@@ -117,7 +117,7 @@
% gfx include folder % gfx include folder
\graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/}} \graphicspath{ {gfx/baro/},{gfx/graph/},{gfx/paths/},{gfx/eval/},{gfx/},{gfx/grid/},{gfx/activity/}}
% correct bad hyphenation here % correct bad hyphenation here

6
tex/chapters/conclusion.tex
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@@ -1,3 +1,9 @@
\section{Conclusion} \section{Conclusion}
map information into smoothing. better way and faster then just dijkstra. compensate big jumps caused by wifi. better method for estimation and drawing of particles in backward simulation. more advanced smoothing transition. not used evaluating using the observations, but using the given information for more advanced approaches. map information into smoothing. better way and faster then just dijkstra. compensate big jumps caused by wifi. better method for estimation and drawing of particles in backward simulation. more advanced smoothing transition. not used evaluating using the observations, but using the given information for more advanced approaches.
\begin{figure}
\input{gfx/activity/activity_over_time}
\caption{activity recognition}
\label{fig:activityRecognition}
\end{figure}

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tex/gfx/activity/act_bergwerk_path4_nexus_simple_interval0.dat Normal file
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tex/gfx/activity/activity_over_time.eps Normal file
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@@ -0,0 +1,978 @@
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\put(3791,1807){\makebox(0,0){\strut{}\footnotesize{7}}}%
\put(4090,1807){\makebox(0,0){\strut{}\footnotesize{8}}}%
\put(4401,1807){\makebox(0,0){\strut{}\footnotesize{9}}}%
\put(4686,1807){\makebox(0,0){\strut{}\footnotesize{10}}}%
}%
\gplbacktext
\put(0,0){\includegraphics{activity_over_time}}%
\gplfronttext
\end{picture}%
\endgroup

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tex/gfx/activity/plot.gp Normal file
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set terminal epslatex size 3.4,1.4
set output "activity_over_time.tex"
#set terminal eps size 3.4,1.4
#set output "activity_over_time.eps"
#set multiplot layout 2,1
#set format y "\\footnotesize{%.1f m}"
set format x "\\footnotesize{%.0f s}"
set key horizontal
set yrange[0:17]
set xrange[0:91]
set xtics nomirror
set ytics nomirror
set key at graph 1,1 opaque box samplen 1.0 spacing 0.8 width -13
set lmargin 7.0
set tmargin 0.3
set rmargin 0.4
set bmargin 1.2
set object 1 rectangle from 0,0 to 14,15 fs solid noborder fc rgb "#eeeeee" behind # standing
set label 1 "\\footnotesize{1}" at 7,5.5 center rotate by 0 front
set object 2 rectangle from 14,0 to 40,15 fs solid noborder fc rgb "#dddddd" behind # walking down the way
set label 2 "\\footnotesize{2}" at 27,5.5 center rotate by 0 front
set object 3 rectangle from 40,0 to 51,15 fs solid noborder fc rgb "#eeeeee" behind # ignoring the shortest path
set label 3 "\\footnotesize{3}" at 45.5,5.5 center rotate by 0 front
set object 4 rectangle from 51,0 to 65,15 fs solid noborder fc rgb "#dddddd" behind # stairwell
set label 4 "\\footnotesize{4}" at 58,5.5 center rotate by 0 front
set object 5 rectangle from 65,0 to 74,15 fs solid noborder fc rgb "#eeeeee" behind # exit stairwell
set label 5 "\\footnotesize{5}" at 69.5,5.5 center rotate by 0 front
set object 6 rectangle from 74,0 to 105,15 fs solid noborder fc rgb "#dddddd" behind # floor
set label 6 "\\footnotesize{6}" at 89.5,5.5 center rotate by 0 front
set object 7 rectangle from 105,0 to 116,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f1
set label 7 "\\footnotesize{7}" at 110.5,5.5 center rotate by 0 front
set object 8 rectangle from 116,0 to 128,15 fs solid noborder fc rgb "#dddddd" behind # floor
set label 8 "\\footnotesize{8}" at 122,5.5 center rotate by 0 front
set object 9 rectangle from 128,0 to 140,15 fs solid noborder fc rgb "#eeeeee" behind # stair down to f0
set label 9 "\\footnotesize{9}" at 134,5.5 center rotate by 0 front
set object 10 rectangle from 140,0 to 150,15 fs solid noborder fc rgb "#dddddd" behind # end
set label 10 "\\footnotesize{10}" at 145,5.5 center rotate by 0 front
#set object 900 rectangle at graph 0.5, 0.94 size graph 0.65,0.12 fs solid fc rgb "#ffffff" lc rgb "#000000"
#set label 901 "\\textcolor[rgb]{0,0,0}{\\footnotesize{simple}}" at graph 0.28, 0.94 center front
#set label 902 "\\textcolor[rgb]{0,0,0.8}{\\footnotesize{multi}}" at graph 0.49, 0.94 center front
#set label 903 "\\textcolor[rgb]{0.8,0,0}{\\footnotesize{shortest}}" at graph 0.71, 0.94 center front
set grid y
set format y ""
set ytics 0 4
set ytics add ("\\footnotesize{unkown}" 0)
set ytics add ("\\footnotesize{standing}" 1)
set ytics add ("\\footnotesize{walking}" 2)
set ytics add ("\\footnotesize{stairs\\_up}" 3)
set ytics add ("\\footnotesize{stairs\\_down}" 4)
unset key
set yrange[0:6]
set xrange[0:151]
plot \
"act_bergwerk_path4_nexus_simple_interval0.dat" using ($0/2+0):1 with lines title "\\footnotesize{simple}\\hspace{-1.5mm}" lw 1.2 lc rgb "#000000"