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final software version for offline competition

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toni
2016-09-23 00:42:46 +02:00
parent a7c83d4d5f
commit dec24df08a
25 changed files with 7654 additions and 302 deletions
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101
code/CMakeLists.txt.user
View File

@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
<!-- Written by QtCreator 3.6.1, 2016-06-16T18:15:36. -->
<!-- Written by QtCreator 4.0.3, 2016-09-21T13:13:17. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
@@ -40,6 +40,7 @@
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
<value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
<value type="int" key="EditorConfiguration.TabSize">8</value>
@@ -65,15 +66,17 @@
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<value type="bool" key="CMakeProjectManager.CMakeBuildConfiguration.UseNinja">false</value>
<valuelist type="QVariantList" key="CMake.Configuration">
<value type="QString">CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++</value>
<value type="QString">QT_QMAKE_EXECUTABLE:STRING=%{Qt:qmakeExecutable}</value>
</valuelist>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Default</value>
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">all</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -86,10 +89,10 @@
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">clean</value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -108,15 +111,16 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
<value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.InitialArgument">-DCMAKE_BUILD_TYPE=Debug</value>
<value type="bool" key="CMakeProjectManager.CMakeBuildConfiguration.UseNinja">false</value>
<valuelist type="QVariantList" key="CMake.Configuration">
<value type="QString">CMAKE_BUILD_TYPE:STRING=Debug</value>
</valuelist>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Debug</value>
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString"></value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -129,10 +133,10 @@
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">clean</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -151,15 +155,16 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">CMakeProjectManager.CMakeBuildConfiguration</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.2">
<value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.InitialArgument">-DCMAKE_BUILD_TYPE=Release</value>
<value type="bool" key="CMakeProjectManager.CMakeBuildConfiguration.UseNinja">false</value>
<valuelist type="QVariantList" key="CMake.Configuration">
<value type="QString">CMAKE_BUILD_TYPE:STRING=Release</value>
</valuelist>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Release</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString"></value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -172,10 +177,10 @@
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">clean</value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -194,15 +199,16 @@
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<value type="bool" key="CMakeProjectManager.CMakeBuildConfiguration.UseNinja">false</value>
<valuelist type="QVariantList" key="CMake.Configuration">
<value type="QString">CMAKE_BUILD_TYPE:STRING=RelWithDebInfo</value>
</valuelist>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Release with Debug Information</value>
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<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -215,10 +221,10 @@
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<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments">clean</value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">clean</value>
</valuelist>
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -237,15 +243,16 @@
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</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.4">
<value type="QString" key="CMakeProjectManager.CMakeBuildConfiguration.InitialArgument">-DCMAKE_BUILD_TYPE=MinSizeRel</value>
<value type="bool" key="CMakeProjectManager.CMakeBuildConfiguration.UseNinja">false</value>
<valuelist type="QVariantList" key="CMake.Configuration">
<value type="QString">CMAKE_BUILD_TYPE:STRING=MinSizeRel</value>
</valuelist>
<value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Minimum Size Release</value>
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<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">false</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString"></value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -258,10 +265,10 @@
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<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets"/>
<value type="bool" key="CMakeProjectManager.MakeStep.Clean">true</value>
<value type="QString" key="CMakeProjectManager.MakeStep.MakeCommand"></value>
<value type="QString" key="CMakeProjectManager.MakeStep.AdditionalArguments"></value>
<valuelist type="QVariantList" key="CMakeProjectManager.MakeStep.BuildTargets">
<value type="QString">clean</value>
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<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
@@ -295,6 +302,7 @@
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<valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
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<value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
<value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
<value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
<value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
@@ -336,6 +344,7 @@
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguation.Title">IPIN2016</value>
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.Arguments"></value>
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory"></value>
<value type="QString" key="CMakeProjectManager.CMakeRunConfiguration.UserWorkingDirectory.default">/home/toni/Documents/programme/localization/IPIN2016/build-code-Desktop-Default</value>
<value type="int" key="PE.EnvironmentAspect.Base">2</value>
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">IPIN2016</value>

12
competition/src/competition/CMakeLists.txt
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@@ -19,6 +19,9 @@ ENDIF()
INCLUDE_DIRECTORIES(
../
../../
../../../
../../../../
)
@@ -38,7 +41,7 @@ FILE(GLOB SOURCES
./*/*.cpp
./*/*/*.cpp
./*/*/*/*.cpp
../Indoor/lib/tinyxml/tinyxml2.cpp
../../../../Indoor/lib/tinyxml/tinyxml2.cpp
)
@@ -65,6 +68,13 @@ ADD_DEFINITIONS(
)
# allow OMP
find_package(OpenMP)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
# build a binary file
ADD_EXECUTABLE(

76
competition/src/competition/Plotti.h
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@@ -19,6 +19,8 @@
#include <KLib/math/filter/particles/ParticleFilter.h>
#include "filter/WiFi.h"
struct Plotti {
K::Gnuplot gp;
@@ -32,6 +34,8 @@ struct Plotti {
K::GnuplotSplotElementPoints pParticles;
K::GnuplotSplotElementColorPoints pColorPoints;
K::GnuplotSplotElementLines gtPath;
K::GnuplotSplotElementLines estPath;
K::GnuplotSplotElementLines estPathSmoothed;
Plotti() {
gp << "set xrange[0-50:70+50]\nset yrange[0-50:50+50]\nset ticslevel 0\n";
@@ -44,7 +48,8 @@ struct Plotti {
splot.add(&pStairs); pStairs.setColorHex("#000000");
splot.add(&pInterest); pInterest.setPointSize(2); pInterest.setColorHex("#ff0000");
splot.add(&gtPath); gtPath.setLineWidth(2); gtPath.setColorHex("#000000");
splot.add(&estPath); estPath.setLineWidth(2); estPath.setColorHex("#00ff00");
splot.add(&estPathSmoothed); estPathSmoothed.setLineWidth(2); estPathSmoothed.setColorHex("#0000ff");
}
void addLabel(const int idx, const Point3 p, const std::string& str, const int fontSize = 10) {
@@ -80,21 +85,35 @@ struct Plotti {
gtPath.add(gp);
}
// estimated path
void addEstimationNode(const Point3 pos){
K::GnuplotPoint3 est(pos.x, pos.y, pos.z);
estPath.add(est);
}
// void debugWiFi(const WiFiModelX& model, const APScan& scan, const float curTS) {
// estimated path
void addEstimationNodeSmoothed(const Point3 pos){
K::GnuplotPoint3 est(pos.x, pos.y, pos.z);
estPathSmoothed.add(est);
}
// pColorPoints.clear();
// const float step = 2.0;
// float z = 0;
// for (float x = -20; x < 90; x += step) {
// for (float y = -10; y < 60; y += step) {
// double prob = model.getProbability(scan, Point3(x,y,z), curTS);
// pColorPoints.add(K::GnuplotPoint3(x,y,z), prob);
// }
// }
// }
void debugWiFi(const WiFiModelX& model, const WiFiMeasurements& scan, const float curTS) {
pColorPoints.clear();
const float step = 2.0;
float z = 0;
for (float x = -20; x < 200; x += step) {
for (float y = -10; y < 200; y += step) {
const Point3 pt(x,y,z);
double prob = model.getProbability(scan, pt, Timestamp::fromSec(curTS));
pColorPoints.add(K::GnuplotPoint3(x,y,z), prob);
}
}
}
template <typename Node> void debugProb(Grid<Node>& grid, std::function<double(const MyObs&, const Point3& pos)> func, const MyObs& obs) {
@@ -208,6 +227,39 @@ struct Plotti {
gp.flush();
}
void saveToFile(std::ofstream& stream){
gp.draw(splot);
stream << "set terminal x11 size 2000,1500\n";
stream << gp.getBuffer();
stream << "pause -1\n";
gp.flush();
}
void printSingleFloor(const std::string& path, const int floorNum) {
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_" << floorNum <<".png'\n";
gp << "set view 0,0\n";
gp << "set zrange [" << (floorNum * 4) - 2 << " : " << (floorNum * 4) + 2 << "]\n";
gp << "set autoscale xy\n";
}
void printSideView(const std::string& path, const int degree) {
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_deg" << degree <<".png'\n";
gp << "set view 90,"<< degree << "\n";
gp << "set autoscale xy\n";
gp << "set autoscale z\n";
}
void printOverview(const std::string& path) {
gp << "set terminal png size 1280,720\n";
gp << "set output '" << path << "_overview" << ".png'\n";
gp << "set view 75,60\n";
gp << "set autoscale xy\n";
gp << "set autoscale z\n";
}
};
#endif // PLOTTI_H

2
competition/src/competition/Structs.h
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@@ -82,6 +82,4 @@ struct GPS {
#endif // STRUCTS_H

20
competition/src/competition/data/car/wifiParams.txt Normal file
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@@ -0,0 +1,20 @@
E0:91:53:1B:36:F0,25.9334,38.9436,-0.0524627,-39.1386,3.49982,-9.36092
00:0B:86:27:35:80,10.4727,31.8167,-2.71109,-35.0022,3.44592,-10.3489
00:0B:86:27:35:90,90.3394,15.4303,2.04479,-49.8716,2.68872,-6.04702
00:0B:86:27:3E:E0,6.17818,4.15351,0.139055,-35,3.4997,-5.7909
00:90:4C:91:00:00,83.9248,11.7224,12.29,-49.9992,2.82737,-7.04282
B8:A3:86:65:E3:20,4.69674,5.5026,0.464426,-40.543,3.49904,-7.30668
1A:FE:34:9D:0D:20,31.2992,33.9625,0.145345,-41.5356,3.49953,-4.3978
72:77:81:A4:9E:30,28.7311,38.3731,6.2193,-49.9932,3.21405,-5.31385
A0:2B:B8:6E:F8:00,-5.31735,104.568,4.70765,-49.9934,2.06603,-9.35664
00:80:2F:17:A2:B0,25.0241,36.8684,-0.150894,-45.8281,3.43221,-7.33956
00:0B:86:27:3E:D0,36.061,33.8152,0.0645585,-40.771,3.49971,-6.54765
00:80:2F:19:26:70,27.4261,37.3301,0.866323,-49.9991,3.08838,-5.47872
82:B6:BE:58:5C:50,62.9964,33.7411,0.140919,-49.9989,2.72436,-9.15091
00:0B:86:27:36:C0,53.7462,27.6526,-0.0873488,-36.7065,3.27317,-5.56178
00:0B:86:27:32:E0,63.4623,32.099,-0.0429999,-49.9917,2.4404,-9.97059
00:0B:86:27:35:10,34.2176,6.17748,-0.0693621,-41.6553,3.49999,-6.08537
00:0B:86:27:3E:80,18.4034,22.1678,1.00951,-38.4197,3.49124,-9.24767
00:0B:86:27:37:B0,30.3648,26.754,1.16354,-42.6981,3.4995,-5.50056
00:0B:86:27:45:B0,57.2717,7.33425,-0.164426,-39.1558,3.49748,-7.04232
F8:8E:85:CF:2D:D0,39.8152,108.911,11.3717,-49.9954,2.12391,-7.82796

133
competition/src/competition/data/uah/wifiParams.txt Normal file
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@@ -0,0 +1,133 @@
04:BD:88:0D:9B:A0,214.378,59.8349,-4.39663,-46.6016,2.10851,-1.99032
1C:65:9D:6A:7D:30,122.755,75.7127,-0.110118,-49.9998,2.91062,-0.386257
04:BD:88:0D:D0:80,118.211,45.4233,10.423,-35.0017,3.43328,-6.92199
62:6D:C7:27:B7:60,119.496,64.0401,-2.88946,-42.1221,2.85472,-3.99463
C8:BE:19:62:A3:E0,96.1187,84.3896,3.9973,-35.0055,2.98134,-2.70863
00:12:17:49:7E:90,93.3295,93.3709,11.9974,-35.0002,2.48209,-7.32168
24:DE:C6:61:B2:70,52.3967,77.2715,3.90902,-35.0016,3.08409,-1.19813
04:BD:88:50:43:70,130.005,54.107,-0.00540396,-49.9837,1.8371,-6.9551
00:12:17:49:7E:A0,123.406,62.3925,14.0466,-45.6587,3.21297,-0.00168633
00:18:E7:DA:7F:20,125.466,46.1327,10.4264,-49.3228,2.68111,-1.92762
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competition/src/competition/data/uji-ti/wifiParams.txt Normal file
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06:27:22:0B:35:80,32.5252,54.1553,3.05857,-49.9546,1.41625,-8.55129

101
competition/src/competition/data/uji-ub/wifiParams.txt Normal file
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@@ -0,0 +1,101 @@
FF:FF:FF:FF:00:30,61.3255,49.1117,12.8065,-35.0008,2.5384,-6.55057
FF:FF:FF:FF:01:29,29.8202,26.1079,20.1286,-49.9995,2.82248,-0.145847
FF:FF:FF:FF:00:68,51.0567,18.1168,9.0434,-35.0187,3.49819,-9.93346
FF:FF:FF:FF:01:61,61.5426,26.656,5.23509,-35.0278,3.49998,-10.5933
FF:FF:FF:FF:01:13,50.8348,19.6734,13.0748,-45.0079,3.49432,-1.70386
FF:FF:FF:FF:00:87,58.733,8.075,5.03149,-35.9899,3.49952,-10.8467
FF:FF:FF:FF:00:26,23.6657,16.9525,5.25899,-35,3.29068,-9.69726
FF:FF:FF:FF:00:64,40.4603,-4.60327,12.0001,-35.007,3.30027,-2.15189
FF:FF:FF:FF:01:67,37.2653,18.5164,16.5336,-49.3521,3.44172,-1.76764
FF:FF:FF:FF:01:06,44.6022,-5.20636,12.0101,-35.1878,3.49929,-0.343725
FF:FF:FF:FF:01:34,41.6675,22.512,9.73085,-49.9978,3.4997,-4.30721
FF:FF:FF:FF:00:17,48.8877,-13.306,16.0022,-36.1515,2.92935,-2.45048
FF:FF:FF:FF:01:10,29.7338,26.4258,23.9674,-38.9589,3.49963,-5.43652
FF:FF:FF:FF:01:71,40.2638,28.4951,22.9366,-38.9438,2.23165,-14.6617
FF:FF:FF:FF:00:34,75.3005,29.2538,3.99767,-35.0035,3.09486,-0.832926
FF:FF:FF:FF:01:65,31.5907,43.052,19.9942,-47.3626,2.43991,-2.29432
FF:FF:FF:FF:00:90,-61.1276,22.543,20.7044,-49.8111,1.75582,-0.337521
FF:FF:FF:FF:00:16,44.8759,-8.18405,16.0004,-35.0026,3.48937,-1.28285
FF:FF:FF:FF:00:45,37.3255,15.7237,23.1597,-49.9664,3.45164,-2.89579
FF:FF:FF:FF:01:21,50.092,26.9431,21.8817,-35.0372,3.49929,-6.15205
FF:FF:FF:FF:01:51,55.6082,24.6096,19.1434,-35.0004,3.09284,-4.76922
FF:FF:FF:FF:01:22,33.5701,26.5572,22.695,-35.0033,2.39651,-14.9836
FF:FF:FF:FF:00:46,51.9681,8.92208,4.93606,-35.0062,3.44907,-11.4138
FF:FF:FF:FF:00:51,55.6536,33.4605,3.99827,-36.1021,3.38589,-1.08473
FF:FF:FF:FF:01:19,42.1772,3.33725,8.05093,-36.2824,3.49993,-8.39715
FF:FF:FF:FF:01:48,33.5646,26.6701,22.3995,-35.0039,2.25191,-15.7439
FF:FF:FF:FF:00:99,51.6486,28.6696,15.9935,-49.5486,3.0511,-0.584962
FF:FF:FF:FF:01:14,52.3689,26.4285,18.5044,-36.3501,3.49948,-5.60479
FF:FF:FF:FF:01:23,30.3933,26.5188,22.0665,-45.7997,2.68648,-6.73393
FF:FF:FF:FF:01:40,52.0377,26.4407,24.2133,-41.5633,3.49894,-5.42151
FF:FF:FF:FF:00:47,24.3982,16.974,5.28612,-35.0009,3.33422,-8.67
FF:FF:FF:FF:01:57,20.0917,-1.92616,20.0011,-35.0084,3.3683,-1.02511
FF:FF:FF:FF:01:45,43.3059,1.44429,8.00549,-35.0176,3.49998,-9.14345
FF:FF:FF:FF:00:08,47.6738,21.7745,4.80425,-45.169,2.75624,-1.76925
FF:FF:FF:FF:01:16,31.5916,23.5406,15.9988,-46.5109,2.52192,-5.85123
FF:FF:FF:FF:01:44,59.6713,24.2997,26.3772,-38.4904,3.49907,-2.44965
FF:FF:FF:FF:00:07,39.9031,45.1725,15.9918,-46.5745,2.96254,-0.195176
FF:FF:FF:FF:01:15,33.816,26.6505,24.6709,-35.0411,3.34374,-10.7747
FF:FF:FF:FF:00:24,40.5597,16.8742,25.9081,-49.9799,3.49916,-0.00550805
FF:FF:FF:FF:01:79,55.6672,23.8436,4.01151,-42.32,3.40306,-7.73111
FF:FF:FF:FF:01:18,60.4541,23.5074,28.0572,-37.1776,3.49948,-3.20076
FF:FF:FF:FF:00:43,15.3138,-44.063,9.83808,-41.7184,2.43117,-0.00026139
FF:FF:FF:FF:01:69,21.7512,-2.37511,-19.6113,-49.9837,2.15097,-0.000342212
FF:FF:FF:FF:01:08,15.4733,16.3318,16.0031,-44.95,2.61319,-6.05641
FF:FF:FF:FF:01:27,1.36324,34.7171,20.1489,-35.1078,2.8743,-0.423486
FF:FF:FF:FF:00:94,63.1968,25.996,5.2847,-35.9412,3.49993,-3.70427
FF:FF:FF:FF:01:70,35.4791,28.4217,23.0721,-35.0009,2.93582,-11.7367
FF:FF:FF:FF:01:35,41.9945,22.5251,10.5587,-49.9896,3.4996,-4.97646
FF:FF:FF:FF:01:64,37.161,48.9912,21.0677,-35.8962,3.49994,-8.10018
FF:FF:FF:FF:01:25,55.2976,24.9868,19.5005,-35.0035,2.96912,-6.85054
FF:FF:FF:FF:01:47,50.1213,27.3851,22.7135,-35.0086,3.43343,-5.27027
FF:FF:FF:FF:00:21,42.6089,15.8034,23.7548,-49.9977,2.67163,-4.30658
FF:FF:FF:FF:00:50,71.9575,40.3268,15.9927,-49.9863,1.35871,-9.15773
FF:FF:FF:FF:01:49,30.3275,26.4448,21.4412,-47.6343,2.41318,-8.09468
FF:FF:FF:FF:00:71,0.831536,-5.34977,20.0126,-43.6724,2.32186,-1.12729
FF:FF:FF:FF:00:13,40.1764,-30.8187,20.0027,-35.004,2.84513,-1.004
FF:FF:FF:FF:01:68,41.3841,9.60216,20.0002,-49.9846,3.49977,-2.62543
FF:FF:FF:FF:00:04,29.2682,-15.2735,16.0026,-35.038,2.99774,-3.51901
FF:FF:FF:FF:00:65,43.7648,27.4297,8.00249,-35.0015,2.77887,-9.44508
FF:FF:FF:FF:00:35,46.6445,71.8687,12.0157,-35.0196,2.79189,-2.1425
FF:FF:FF:FF:01:72,30.0851,28.9715,21.5068,-35.0002,2.58584,-6.1347
FF:FF:FF:FF:00:96,63.5721,26.041,5.31246,-38.328,3.49978,-1.36387
FF:FF:FF:FF:01:11,35.7941,30.3036,25.3933,-42.6625,3.06023,-5.5328
FF:FF:FF:FF:00:10,39.0899,55.4821,15.9913,-45.5138,2.66811,-1.61757
FF:FF:FF:FF:01:09,21.337,18.7888,16.9388,-49.9198,2.62881,-3.8303
FF:FF:FF:FF:01:05,26.0588,18.4117,16.0091,-47.9079,2.48883,-2.45525
FF:FF:FF:FF:00:93,30.2106,63.7146,16.4056,-35.0029,2.95634,-2.04168
FF:FF:FF:FF:00:60,-68.2546,41.3555,19.3967,-48.3603,1.91815,-1.82882
FF:FF:FF:FF:00:09,47.6367,60.1411,15.9965,-36.826,3.00483,-1.52924
FF:FF:FF:FF:01:46,51.2882,22.3053,9.20142,-35.0003,3.39486,-9.84389
FF:FF:FF:FF:01:73,54.1249,16.4094,4.27109,-43.3027,3.49996,-7.77886
FF:FF:FF:FF:00:36,47.2464,50.9547,16.0034,-35.0008,3.42789,-0.153835
FF:FF:FF:FF:00:56,37.9049,2.95165,8.00579,-35.0458,2.97445,-8.98925
FF:FF:FF:FF:01:26,43.5824,2.79313,8.00019,-35.0126,2.84525,-11.329
FF:FF:FF:FF:01:60,47.757,35.0984,11.9932,-45.6897,1.1362,-9.47875
FF:FF:FF:FF:00:67,37.9418,3.57521,8.00547,-35.0106,2.99568,-9.18844
FF:FF:FF:FF:01:43,49.171,27.3086,11.9517,-35.0414,3.49992,-8.14544
FF:FF:FF:FF:00:25,51.5967,8.96885,4.82255,-35.0012,3.44641,-12.7841
FF:FF:FF:FF:01:62,61.8046,24.6624,5.34482,-37.4709,3.49995,-7.51762
FF:FF:FF:FF:00:12,36.1314,7.31808,4.00517,-35.0422,2.96786,-14.3049
FF:FF:FF:FF:00:52,46.1982,57.9144,15.9848,-35.0031,2.92728,-2.89102
FF:FF:FF:FF:00:49,55.5027,60.6269,15.9932,-35.0023,3.18631,-1.20988
FF:FF:FF:FF:01:42,31.8036,23.5235,15.9984,-46.8514,2.77668,-4.5452
FF:FF:FF:FF:00:66,42.0519,21.9564,-0.00522796,-35.0022,1.8355,-10.5922
FF:FF:FF:FF:00:05,33.5066,31.3112,8.96058,-37.2085,3.4105,-3.26688
FF:FF:FF:FF:01:30,57.3403,24.1377,5.40282,-37.1963,3.49977,-10.0038
FF:FF:FF:FF:00:54,44.1486,28.1293,8.00134,-35.0275,2.7215,-9.59048
FF:FF:FF:FF:01:52,46.018,2.23849,8.00049,-35.0048,2.82059,-10.6605
FF:FF:FF:FF:01:17,47.533,24.2954,11.9735,-38.7352,3.49961,-5.3735
FF:FF:FF:FF:00:55,42.4996,22.5314,-3.82074e-05,-35.0041,1.86698,-10.089
FF:FF:FF:FF:01:31,34.5379,31.231,19.145,-41.7621,3.21528,-0.00058413
FF:FF:FF:FF:01:41,33.9805,26.6361,24.6389,-35.4263,3.31241,-7.56465
FF:FF:FF:FF:00:48,51.1195,24.8872,3.94769,-37.5513,3.49986,-7.68639
FF:FF:FF:FF:01:24,46.3338,28.237,8.00239,-35.0015,2.79479,-10.0347
FF:FF:FF:FF:00:27,50.9023,24.6375,3.76086,-39.2458,3.4995,-6.92521
FF:FF:FF:FF:01:20,51.1002,22.0841,9.14745,-35.0026,3.41654,-8.99681
FF:FF:FF:FF:00:40,30.3214,-10.3777,16.0046,-48.4109,2.48731,-2.01044
FF:FF:FF:FF:01:39,49.9374,19.2717,12.9782,-46.553,3.44212,-1.22435
FF:FF:FF:FF:00:53,39.4442,49.9108,12.2648,-35.011,3.42754,-0.000203297
FF:FF:FF:FF:01:50,47.1049,28.1215,8.00045,-35.0063,2.77865,-9.59834
FF:FF:FF:FF:00:57,51.1749,18.5591,9.48191,-35.212,3.49933,-9.38768

437
competition/src/competition/filter/Logic.h
View File

@@ -13,19 +13,27 @@
#include <Indoor/grid/walk/v2/modules/WalkModuleSpread.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleFavorZ.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleButterActivity.h>
#include <Indoor/grid/walk/v2/modules/WalkModuleButterActivityPercent.h>
#include <Indoor/grid/walk/v2/modules/WalkModulePreventVisited.h>
#include <KLib/math/filter/smoothing/BackwardFilterTransition.h>
#include <Indoor/grid/factory/v2/GridNodeImportance.h>
#include "WiFi.h"
#include "../Scaler.h"
#include "Structs.h"
#include <omp.h>
//struct MyWalkState : public WalkState, public WalkStateHeading, public WalkStateRelativePressure {
// MyWalkState(const GridPoint& gp, const Heading head, const float relativePressure) : WalkState(gp), WalkStateHeading(head, 0), WalkStateRelativePressure(relativePressure) {;}
//};
const bool barometer = true;
struct MyNode : public GridPoint, public GridNode, public GridNodeImportance {
MyNode() : GridPoint() {;}
MyNode(const int x, const int y, const int z) : GridPoint(x,y,z) {;}
};
@@ -104,11 +112,12 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
WalkModuleSpread<MyNode, MyState> modSpread;
WalkModuleFavorZ<MyNode, MyState> modFavorZ;
WalkModuleButterActivity<MyNode, MyState> modButterAct;
WalkModuleButterActivityPercent<MyNode, MyState, MyControl> modButterActPerc;
//WalkModulePreventVisited<MyNode, MyState> modPreventVisited;
PFTrans(Grid<MyNode>& grid, MyControl* ctrl) : grid(grid), modHead(ctrl, 4.5f) {//, modPressure(ctrl, 0.100) {
PFTrans(Grid<MyNode>& grid, MyControl* ctrl) : grid(grid), modHead(ctrl, 4.5f), modButterActPerc(ctrl) {//, modPressure(ctrl, 0.100) {
walker.addModule(&modHead);
//walker.addModule(&modSpread); // might help in some situations! keep in mind!
@@ -116,28 +125,58 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
//walker.addModule(&modHeadUgly);
walker.addModule(&modImportance);
walker.addModule(&modFavorZ);
walker.addModule(&modButterAct);
//walker.addModule(&modButterAct);
if(barometer){
walker.addModule(&modButterActPerc);
}
//walker.addModule(&modWifi);
//walker.addModule(&modPreventVisited);
}
virtual void transition(std::vector<K::Particle<MyState>>& particles, const MyControl* control) override {
Distribution::Normal<float> distStep(1, 0.15);
float tmpSum1 = 0;
float tmpSum2 = 0;
int tmpCnt = 0;
Distribution::Normal<float> distStep(1, 0.35);
Distribution::Normal<float> distUpDown(1, 0.5);
for (K::Particle<MyState>& p : particles) {
tmpSum1 += p.state.relPres;
p.state.positionOld = p.state.position; //GridPoint(p.state.position.x_cm, p.state.position.y_cm, p.state.position.z_cm);
const float var = distStep.draw();
const float dist = control->numSteps * var * 0.76; // 75cm + variance for every detected step
const float varUpDown = distUpDown.draw();
float dist = control->numSteps * var * 0.78; // 75cm + variance for every detected step
MyNode node = grid.getNodeFor(p.state.position);
if(barometer){
/** Hier steckt noch viel Optimierungspotential drinnen! Richtige Distanz für den richtigen Bereich.*/
if(node.getType() == 2){
//wenn die wahrscheinlichkeit vom aufzug gering, dann sollen die partikel die noch drin sind auch stehen bleiben.
//TODO: varianz der erkennung eines fahrstuhls kleiner machen. ggf. die andere methode mit "harten" grenzen...
dist = 3 * varUpDown * (control->barometer.actProbs.elevatorDown > control->barometer.actProbs.elevatorUp ? control->barometer.actProbs.elevatorDown : control->barometer.actProbs.elevatorUp); //multiply with prob of elevator?
}
/** stell sicher, das er die treppe läuft, auch wenn kein step erkannt wurde*/
if(node.getType() == 1){
dist = control->numSteps * 0.4 + 0.6; // * varUpDown * (control->barometer.actProbs.stairsDown > control->barometer.actProbs.stairsUp ? control->barometer.actProbs.stairsDown : control->barometer.actProbs.stairsUp); //* wahrscheinlichkeit treppe
}
}
//we activity is stairchange, but particle is not changing, set dist to zero
// if(control->barometer.act == ActivityButterPressure::Activity::DOWN || control->barometer.act == ActivityButterPressure::Activity::DOWN){
//
// != type_stair
//float diff = p.state.positionOld.inMeter().z - p.state.position.inMeter().z;
// if(diff == 0){
// dist = 0.0;
// }
// }
//activity
p.state.act = control->barometer.act;
// --------- OLD
// transfer from state to walkstate
@@ -154,8 +193,39 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
// update the particle in-place
p.state = walker.getDestination(grid, p.state, dist);
tmpSum2 += p.state.relPres;
++tmpCnt;
// update the baromter
//TODO: hier muss zwischen Aufzug und Treppe unterschieden werden.
if(control->barometer.resetRelPressure){
p.state.hPa = 0.0;
}
float deltaZ_cm = p.state.positionOld.inMeter().z - p.state.position.inMeter().z;
p.state.hPa += deltaZ_cm * 0.105f;
//which activity was performed by the particle? This is used in the smoothing procedure!
//walking updwards with node = stairs => stairs up
if(node.getType() == 1){
if(deltaZ_cm < 0.0f){MyState::Activity::STAIRS_UP;}
if(deltaZ_cm > 0.0f){MyState::Activity::STAIRS_DOWN;}
}
//same for elevators
if(node.getType() == 2){
if(deltaZ_cm < 0.0f){MyState::Activity::ELEVATOR_UP;}
if(deltaZ_cm > 0.0f){MyState::Activity::ELEVATOR_DOWN;}
}
//no step = no walking.
else if(control->numSteps == 0){
p.state.act = MyState::Activity::STANDING;
}
//walking is the only option left
else{
p.state.act = MyState::Activity::WALKING;
}
//save the measured activities
p.state.refActProbs = control->barometer.actProbs;
p.state.refTurnAngle = control->turnAngle;
}
@@ -166,18 +236,236 @@ struct PFTrans : public K::ParticleFilterTransition<MyState, MyControl> {
};
/**
* smoothing transition starting at T with t, t-1,...0
* @param particles_new p_t (Forward Filter) p2
* @param particles_old p_t+1 (Smoothed Particles from Step before) p1
* q(p1 | p2) is calculated
*/
struct BFTrans : public K::BackwardFilterTransition<MyState> {
Grid<MyNode>& grid;
BFTrans(Grid<MyNode>& grid) : grid(grid) {;}
virtual std::vector<std::vector<double>> transition(std::vector<K::Particle<MyState>>const& particles_new,
std::vector<K::Particle<MyState>>const& particles_old ) override {
std::vector<std::vector<double>> predictionProbabilities;
omp_set_dynamic(0); // Explicitly disable dynamic teams
omp_set_num_threads(7);
#pragma omp parallel for shared(predictionProbabilities)
for (int i = 0; i < particles_old.size(); ++i) {
std::vector<double> innerVector;
auto p1 = &particles_old[i];
for(int j = 0; j < particles_new.size(); ++j){
auto p2 = &particles_new[j];
const double distance_m = p2->state.position.getDistanceInMeter(p1->state.position);
double muDistance = 0.8;
double sigmaDistance = 0.5;
double muFloor = 0.0;
double sigmaFloor = 0.2;
//jedem partikel seine aktivity die er zum zeitpunt t ausgeführt hat speichern.
//wenn echte aktivität treppen laufen war, der partikel aber stehen gebliebn ist, wird dieser niedrig bewertet.
double actProb = 1.0;
switch (p2->state.act) {
case MyState::Activity::ELEVATOR_DOWN :
muDistance = 0.0;
sigmaDistance = 0.3;
muFloor = 3.0;
sigmaFloor = 1.0;
actProb = p1->state.refActProbs.elevatorDown;
break;
case MyState::Activity::STAIRS_DOWN:
muDistance = 0.5;
sigmaDistance = 0.3;
muFloor = 0.5;
actProb = p1->state.refActProbs.stairsDown;
break;
case MyState::Activity::STAIRS_UP:
muDistance = 0.4;
sigmaDistance = 0.2;
muFloor = -0.5;
actProb = p1->state.refActProbs.stairsUp;
break;
case MyState::Activity::STANDING:
muDistance = 0.0;
sigmaDistance = 0.2;
muFloor = 0.0;
actProb = p1->state.refActProbs.stay;
break;
case MyState::Activity::WALKING:
muDistance = 0.8;
sigmaDistance = 0.5;
muFloor = 0.0;
actProb = p1->state.refActProbs.stay;
break;
case MyState::Activity::ELEVATOR_UP :
muDistance = 0.0;
sigmaDistance = 0.3;
muFloor = -3.0;
sigmaFloor = 1.0;
actProb = p1->state.refActProbs.elevatorUp;
break;
default:
muDistance = 0.8;
sigmaDistance = 0.5;
muFloor = 0.0;
actProb = p1->state.refActProbs.stay;
break;
}
const double distProb = Distribution::Normal<double>::getProbability(muDistance, sigmaDistance, distance_m);
// is the heading change similiar to the measurement?
// QUATSCH! Ich brauch das Heading zwischen Punkt p1 und p2 und nicht die differenz.
double diffRad = p2->state.heading.direction.getSignedDiff(p1->state.heading.direction);
double diffDeg = Angle::radToDeg(diffRad);
double angularChange = Angle::radToDeg(p2->state.refTurnAngle);
const double headingProb = Distribution::Normal<double>::getProbability(angularChange, 5.0, diffDeg);
//check how near we are to the measurement
double diffZ = (p2->state.position.z_cm - p1->state.position.z_cm) / 100.0;
const double floorProb = Distribution::Normal<double>::getProbability(muFloor, sigmaFloor, diffZ);
//combine the probabilities
double prob = distProb * headingProb * floorProb * actProb;
innerVector.push_back(prob);
}
#pragma omp critical
predictionProbabilities.push_back(innerVector);
}
return predictionProbabilities;
}
};
struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
WiFiModelX model;
Scaler scaler;
Grid<MyNode>& grid;
PFEval(Scaler scaler, WiFiModelX wifiModel) : scaler(scaler), model(wifiModel) {
PFEval(Scaler scaler, WiFiModelX wifiModel, Grid<MyNode>& grid) : scaler(scaler), model(wifiModel), grid(grid) {
}
/** probability for WIFI */
inline double getWIFI(const MyObs& observation, const Point3 pos_m) const {
// if(observation.act == ActivityButterPressure::Activity::UP || observation.act == ActivityButterPressure::Activity::DOWN){
// return 1.0;
// }
return model.getProbability(observation.wifis, pos_m, Timestamp::fromSec(observation.curTS));
// //get the probabiliy for different z values. rebase particel to this value
// //eventl. hier nur die z koordinate des aktuellen partikel nehmen und die position der estimation
// double prob_1_p = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z + 4), Timestamp::fromSec(observation.curTS));
// double prob_05_p = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z + 2), Timestamp::fromSec(observation.curTS));
// double prob_025_p = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z + 1), Timestamp::fromSec(observation.curTS));
// double prob_0 = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z ), Timestamp::fromSec(observation.curTS));
// double prob_025_n = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z - 1), Timestamp::fromSec(observation.curTS));
// double prob_05_n = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z - 2), Timestamp::fromSec(observation.curTS));
// double prob_1_n = model.getProbability(observation.wifis, Point3(pos_m.x, pos_m.y, pos_m.z - 4), Timestamp::fromSec(observation.curTS));
// // if positiv -> upstairs (not like barometer ;))
// double diff = pos_m.z - posOld_m.z;
// if(diff > 3){
// return prob_1_p;
// }
// else if(diff > 1.5){
// return prob_05_p;
// }
// else if(diff > 0.5){
// return prob_025_p;
// }
// else if (diff > -0.5){
// return prob_0;
// }
// else if (diff > -1.5){
// return prob_025_n;
// }
// else if (diff > -3){
// return prob_05_n;
// }
// else{
// return prob_1_n;
// }
// if(prob_1_p > prob_05_p && prob_1_p > prob_025_p && prob_1_p > prob_0 && prob_1_p > prob_025_n && prob_1_p > prob_05_n && prob_1_p > prob_1_n){
// point.z_cm += 400;
// return prob_1_p;
// }
// else if(prob_1_n > prob_05_p && prob_1_n > prob_025_p && prob_1_n > prob_0 && prob_1_n > prob_025_n && prob_1_n > prob_05_n){
// point.z_cm += 400;
// return prob_1_p;
// }
// else if (prob_05_p > prob_025_p && prob_05_p > prob_0 && prob_05_p > prob_025_n && prob_05_p > prob_05_n && prob_05_p > prob_1_n){
// point.z_cm += 50;
// return prob_05_p;
// }
// else if (prob_025_p > prob_0 && prob_025_p > prob_025_n && prob_025_p > prob_05_n && prob_025_p > prob_1_n){
// point.z_cm += 25;
// return prob_025_p;
// }
// else if (prob_0 > prob_025_n && prob_0 > prob_05_n && prob_0 > prob_1_n){
// point.z_cm += 0;
// return prob_0;
// }
// else if (prob_025_n > prob_05_n && prob_025_n > prob_1_n){
// point.z_cm -= 25;
// return prob_025_n;
// }
// else if (prob_05_n > prob_1_n){
// point.z_cm -= 50;
// return prob_05_n;
// }
// else{
// point.z_cm -= 400;
// return prob_1_n;
// }
}
/** probability for GPS */
@@ -196,26 +484,141 @@ struct PFEval : public K::ParticleFilterEvaluation<MyState, MyObs> {
}
//Old just for non probabilistic activity
inline double getBaro(const MyObs& observation, const GridPoint point, const GridPoint pointOld) const{
MyNode node = grid.getNodeFor(point);
MyNode nodeOld = grid.getNodeFor(pointOld);
float diff = nodeOld.z_cm - node.z_cm;
if(observation.act == ActivityButterPressure::Activity::UP){
if(node.getType() == MyNode::TYPE_STAIR || node.getType() == MyNode::TYPE_ELEVATOR){
if(diff < 0.0f){
return 0.79;
}
else{
return 0.01;
}
}else{
return 0.01;
}
}
else if(observation.act == ActivityButterPressure::Activity::DOWN){
if(node.getType() == MyNode::TYPE_STAIR || node.getType() == MyNode::TYPE_ELEVATOR){
if(diff > 0.0f){
return 0.79;
}
else{
return 0.01;
}
}else{
return 0.01;
}
}
else{
return 1.0;
}
}
inline double getBaroPercent(const MyObs& observation, const GridPoint point, const GridPoint pointOld) const{
MyNode node = grid.getNodeFor(point);
MyNode nodeOld = grid.getNodeFor(pointOld);
float deltaZ_cm = nodeOld.z_cm - node.z_cm;
//floor and doors
if(node.getType() == 0 || node.getType() == 3){
return observation.actProbs.stay;
}
//stairs
if(node.getType() == 1){
// //Wenn partikel noch auf treppe, dann sollte das hier etwas höher sein, wenn aber nicht mehr... sehr sehr klein!
// if (observation.act == ActivityButterPressure::Activity::STAY){
// return observation.actProbs.stay * 0.5;
// }
if (deltaZ_cm > 0){return observation.actProbs.stairsDown;}
if (deltaZ_cm < 0){return observation.actProbs.stairsUp;}
return 0.8 * observation.actProbs.stairsDown > observation.actProbs.stairsUp ? observation.actProbs.stairsDown : observation.actProbs.stairsUp;
}
//elevators
if(node.getType() == 2){
// //Wenn partikel noch im aufzug, dann sollte das hier etwas höher sein, wenn aber nicht mehr... sehr sehr klein!
// if (observation.act == ActivityButterPressure::Activity::STAY){
// return observation.actProbs.stay * 0.5;
// }
if (deltaZ_cm > 0){return observation.actProbs.elevatorDown;}
if (deltaZ_cm < 0){return observation.actProbs.elevatorUp;}
return 0.8 * observation.actProbs.elevatorDown > observation.actProbs.elevatorUp ? observation.actProbs.elevatorDown : observation.actProbs.elevatorUp;
}
return 1.0;
}
inline double getBaroPressure(const MyObs& observation, const float hPa) const{
//TODO: would it be better to print only a distribution if the relPressure was reset?
float diff = observation.hPa - observation.referencePressure;
return Distribution::Normal<double>::getProbability(hPa, 0.10, diff);
}
/** probability for ALL sensors */
inline double getALL(const MyObs& observation, const Point3 pos_m) const {
inline double getALL(const MyObs& observation, GridPoint& point, const GridPoint pointOld, const float hPa) const {
Point3 pos_m = point.inMeter();
Point3 posOld_m = pointOld.inMeter();
const double pWifi = getWIFI(observation, pos_m);
const double pGps = getGPS(observation, pos_m);
if(!barometer){
return pWifi*pGps;
}
const double pBaro = getBaro(observation, point, pointOld);
const double pBaroPercent = getBaroPercent(observation, point, pointOld);
const double pBaroPressure = getBaroPressure(observation, hPa);
_assertNotNAN(pBaroPercent, "pups");
_assertNotNAN(pGps,"pups");
_assertNotNAN(pWifi, "pups");
_assertNot0(pBaroPressure,"pBaroPressure is null");
_assertNot0(pBaroPercent,"pBaroPercent is null");
return pWifi*pGps*pBaroPercent*pBaroPressure;
}
virtual double evaluation(std::vector<K::Particle<MyState>>& particles, const MyObs& observation) override {
double sum = 0;
for (K::Particle<MyState>& p : particles) {
const double prob = getALL(observation, p.state.position.inMeter());
const double prob = getALL(observation, p.state.position, p.state.positionOld, p.state.hPa);
p.weight = prob;
sum += prob;
sum += (prob);
}
if(sum == 0.0){
return 1.0;
}
return sum;
}

21
competition/src/competition/filter/Structs.h
View File

@@ -15,6 +15,7 @@
#include <Indoor/grid/walk/v2/modules/WalkModulePreventVisited.h>
#include <Indoor/sensors/pressure/ActivityButterPressure.h>
#include <Indoor/sensors/pressure/ActivityButterPressurePercent.h>
struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpread, public WalkStateFavorZ {
@@ -25,12 +26,20 @@ struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpre
// CURRENTLY OBSOLETE (did not work as expected)
float relPres; // current pressure relative to t0
ActivityButterPressure::Activity act;
float hPa = 0;
GridPoint positionOld;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0) {;}
enum Activity {ELEVATOR_DOWN, STAIRS_DOWN, WALKING, STANDING, STAIRS_UP, ELEVATOR_UP};
MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0) {;}
Activity act = STANDING;
ActivityButterPressurePercent::ActivityProbabilities refActProbs = ActivityButterPressurePercent::ActivityProbabilities(0.01f, 0.01f, 0.96f, 0.01f, 0.01f);
float refTurnAngle = 0;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), hPa(0) {;}
MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), hPa(0) {;}
MyState& operator += (const MyState& o) {
this->position += o.position;
@@ -106,6 +115,8 @@ struct MyControl {
// sensor type 3
ActivityButterPressure::Activity act = ActivityButterPressure::STAY;
ActivityButterPressurePercent::ActivityProbabilities actProbs = ActivityButterPressurePercent::ActivityProbabilities(0.01f, 0.01f, 0.96f, 0.01f, 0.01f);
bool resetRelPressure;
} barometer;
@@ -116,6 +127,10 @@ struct MyObs {
float curTS;
WiFiMeasurements wifis;
GPS gps;
ActivityButterPressure::Activity act;
ActivityButterPressurePercent::ActivityProbabilities actProbs = ActivityButterPressurePercent::ActivityProbabilities(0.01f, 0.01f, 0.96f, 0.01f, 0.01f);
double hPa;
double referencePressure;
};

402
competition/src/competition/main.cpp
View File

@@ -1,10 +1,12 @@
#include "FileReader.h"
#include <iostream>
#include "filter/Structs.h"
#include "Plotti.h"
#include "Structs.h"
#include <chrono>
#include "filter/WiFi.h"
#include "filter/Logic.h"
@@ -24,12 +26,22 @@
#include <Indoor/sensors/imu/StepDetection.h>
#include <Indoor/sensors/pressure/RelativePressure.h>
#include <Indoor/sensors/pressure/PressureTendence.h>
#include <Indoor/sensors/pressure/ActivityButterPressure.h>
#include <Indoor/sensors/pressure/ActivityButterPressurePercent.h>
#include <Indoor/math/MovingAVG.h>
#include <Indoor/math/FixedFrequencyInterpolator.h>
#include <Indoor/data/Timestamp.h>
#include "Optimizer.h"
#include "Scaler.h"
#include <KLib/math/filter/particles/ParticleFilter.h>
#include <KLib/math/filter/particles/ParticleFilterHistory.h>
#include <KLib/math/filter/particles/ParticleFilterInitializer.h>
#include <KLib/math/filter/smoothing/BackwardSimulation.h>
#include <KLib/math/filter/smoothing/CondensationBackwardFilter.h>
#include <KLib/math/filter/smoothing/sampling/ParticleTrajectorieSampler.h>
#include <KLib/math/filter/smoothing/sampling/CumulativeSampler.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
@@ -76,12 +88,12 @@ void testScaler() {
#include <Indoor/geo/Heading.h>
//frank
const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
const std::string dataDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/src/data/";
//const std::string mapDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/maps/";
//const std::string dataDir = "/mnt/data/workspaces/IPIN2016/IPIN2016/competition/src/data/";
//toni
//const std::string mapDir = "/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/";
//const std::string dataDir = "/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/data/";
const std::string mapDir = "/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/map/";
const std::string dataDir = "/home/toni/Documents/programme/localization/IPIN2016/competition/src/competition/data/";
/** describes one dataset (map, training, parameter-estimation, ...) */
struct DataSetup {
@@ -91,6 +103,7 @@ struct DataSetup {
int minWifiOccurences;
VAPGrouper::Mode vapMode;
Scaler scaler;
int buildingNum;
};
/** all configured datasets */
@@ -104,20 +117,24 @@ struct Data {
dataDir + "car/logfile_CAR_R1_S3.txt",
dataDir + "car/logfile_CAR_R1_S3mini.txt", // s3 mini suckt hier genauso wie bei uns
dataDir + "car/logfile_CAR_R2_S3.txt",
dataDir + "car/logfile_CAR_R2_S4.txt"
dataDir + "car/logfile_CAR_R2_S4.txt",
dataDir + "eval/evaluation_logfile_06.txt", // s3
dataDir + "eval/evaluation_logfile_09.txt" // s4
},
dataDir + "car/wifiParams.txt",
40,
VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
Scaler (1282, 818, 40.31320308, -3.48367648, -8.77680000, 0.05207600)
Scaler (1282, 818, 40.31320308, -3.48367648, -8.77680000, 0.05207600),
10
};
DataSetup UAH = {
mapDir + "UAH/UAH9.xml",
mapDir + "UAH/UAH13_rawObstacles.xml",
{
dataDir + "uah/logfile_UAH_R1_S3.txt",
@@ -125,14 +142,20 @@ struct Data {
dataDir + "uah/logfile_UAH_R2_S3.txt",
dataDir + "uah/logfile_UAH_R2_S4.txt",
dataDir + "uah/logfile_UAH_R4_S3.txt",
dataDir + "uah/logfile_UAH_R4_S4.txt"
dataDir + "uah/logfile_UAH_R4_S4.txt",
dataDir + "eval/evaluation_logfile_03.txt",
dataDir + "eval/evaluation_logfile_05.txt",
dataDir + "eval/evaluation_logfile_07.txt",
dataDir + "eval/evaluation_logfile_08.txt"
},
dataDir + "uah/wifiParams.txt",
40,
VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
Scaler (1869, 1869, 40.51312440, -3.34959080, -40.73112000, 0.07596002)
Scaler (1869, 1869, 40.51312440, -3.34959080, -40.73112000, 0.07596002),
20
};
@@ -143,19 +166,23 @@ struct Data {
{
dataDir + "uji-ti/logfile_UJITI_R1_NEXUS5.txt",
dataDir + "uji-ti/logfile_UJITI_R2_NEXUS5.txt",
dataDir + "eval/evaluation_logfile_01.txt",
dataDir + "eval/evaluation_logfile_04.txt"
},
dataDir + "uji-ti/wifiParams.txt",
15,
VAPGrouper::Mode::LAST_MAC_DIGIT_TO_ZERO,
Scaler (748, 1046, 39.99322125, -0.06862410, 29.57638723, 0.08556493)
Scaler (748, 1046, 39.99322125, -0.06862410, 29.57638723, 0.08556493),
40
};
DataSetup UJI_UB = {
mapDir + "UJI-UB/UJI-UB4.xml",
mapDir + "UJI-UB/UJI-UB5.xml",
{
dataDir + "uji-ub/logfile_UJIUB_R1n_S3.txt",
@@ -163,6 +190,7 @@ struct Data {
dataDir + "uji-ub/logfile_UJIUB_R2n_S3.txt",
dataDir + "uji-ub/logfile_UJIUB_R2r_S3.txt",
dataDir + "uji-ub/logfile_UJIUB_R3_S3.txt",
dataDir + "eval/evaluation_logfile_02.txt"
},
dataDir + "uji-ub/wifiParams.txt",
@@ -170,7 +198,9 @@ struct Data {
VAPGrouper::Mode::DISABLED,
// BEWARE! not all images have the same size!
Scaler (4362, 1959, 39.99380328, -0.07389222, 29.54974856, 0.01700000)
Scaler (4362, 1959, 39.99380328, -0.07389222, 29.54974856, 0.01700000),
30
};
@@ -243,17 +273,15 @@ void optimize(Floorplan::IndoorMap* map, Scaler& scaler, VAPGrouper::Mode vapMod
}
Floorplan::IndoorMap* MyState::map;
int main(int argc, char** argv) {
void run(DataSetup setup, int numFile, std::string folder) {
testScaler();
//testScaler();
// the dataset to use
DataSetup setup = data.UAH;
//DataSetup setup = data.UAH;
// load the floorplan
Floorplan::IndoorMap* map = Floorplan::Reader::readFromFile(setup.map);
@@ -263,24 +291,38 @@ int main(int argc, char** argv) {
//optimize(map, setup.scaler, setup.vapMode, setup.minWifiOccurences, setup.training, setup.wifiParams);
// testing
map->floors[0]->obstacles.clear();
//map->floors[0]->obstacles.clear();
// fetch previously optimized wifi paramters
WiFiModelX model(setup.vapMode);
model.read(setup.wifiParams, map);
// build the grid
// // build the grid
Grid<MyNode> grid(20);
GridFactory<MyNode> factory(grid);
factory.build(map);
// GridFactory<MyNode> factory(grid);
// factory.build(map);
// std::filebuf fb;
// fb.open (dataDir + "uah/grid13",std::ios::out);
// std::ostream os(&fb);
// grid.write(os);
// fb.close();
std::filebuf fb;
if (fb.open (dataDir + "uah/grid13",std::ios::in))
{
std::istream is(&fb);
grid.read(is);
}
fb.close();
Importance::addImportance(grid);
FileReader fr(setup.training[1]);
FileReader fr(setup.training[numFile]);
//partikel gehen nicht schnell genug nach oben oder unten
@@ -294,10 +336,19 @@ int main(int argc, char** argv) {
plot.addFloors(map);
plot.addOutline(map);
plot.addStairs(map);
plot.gp << "set autoscale xy\n";
//plot.addGrid(grid);
for (FileReader::TS<FileReader::Position> pos : fr.positions) {
Point3 p3 = setup.scaler.convert3D(pos.data.lat, pos.data.lon, pos.data.floorNr);
/** check if long/lat calculation is correct just to be sure :)*/
IPIN pos2 = setup.scaler.toIPIN3(p3);
Assert::isNear(pos.data.lat, pos2.lat, 0.000000001, "lat not equal");
Assert::isNear(pos.data.lon, pos2.lon, 0.000000001, "lon not equal");
Assert::isNear(pos.data.floorNr, static_cast<float>(pos2.floorNr), 0.000000001f, "floorNr not equal");
plot.addGroundTruthNode(p3);
}
@@ -306,18 +357,19 @@ int main(int argc, char** argv) {
MyControl ctrl; ctrl.numSteps = 0;
MyObs obs;
int numParticles = 4000;
int numParticles = 8000;
int numBSParticles = 500;
PFEval* eval = new PFEval(setup.scaler, model);
PFEval* eval = new PFEval(setup.scaler, model, grid);
//std::unique_ptr<PFInit> init =
K::ParticleFilter<MyState, MyControl, MyObs> pf(numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
K::ParticleFilterHistory<MyState, MyControl, MyObs> pf(numParticles, std::unique_ptr<PFInit>(new PFInit(grid)));
pf.setTransition(std::unique_ptr<PFTrans>(new PFTrans(grid, &ctrl)));
pf.setEvaluation(std::unique_ptr<PFEval>(eval));
pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()));
//pf.setResampling(std::unique_ptr<K::ParticleFilterResamplingPercent<MyState>>(new K::ParticleFilterResamplingPercent<MyState>(0.04)));
pf.setNEffThreshold(1.0);
pf.setNEffThreshold(0.5);
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
@@ -325,6 +377,30 @@ int main(int argc, char** argv) {
//pf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationKernelDensity<MyState, 3>>(new K::ParticleFilterEstimationKernelDensity<MyState, 3>()));
/** Toni Smoothing Stuff */
//create the backward smoothing filter
K::BackwardSimulation<MyState> bf(numBSParticles);
//bf = new K::CondensationBackwardFilter<MyState>;
bf.setSampler( std::unique_ptr<K::CumulativeSampler<MyState>>(new K::CumulativeSampler<MyState>()));
bool smoothing_resample = false;
//bf->setNEffThreshold(1.0);
//Smoothing using Simple Trans
//bf.setEstimation(std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
//bf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
bf.setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.95f)));
if(smoothing_resample)
bf.setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
bf.setTransition(std::unique_ptr<BFTrans>( new BFTrans(grid)) );
//History of all estimated particles. Used for smoothing
std::vector<std::vector<K::Particle<MyState>>> pfHistory;
std::vector<Point3> smoothedEst;
std::vector<float> tsHistory;
std::vector<Point3> pathEst;
float lastUpdateMS = 0;
@@ -336,14 +412,41 @@ int main(int argc, char** argv) {
RelativePressure relBaro; relBaro.setCalibrationTimeframe( Timestamp::fromMS(5000) );
PressureTendence baroTend(Timestamp::fromSec(5));
ActivityButterPressure act;
ActivityButterPressurePercent actProbs;
K::Statistics<float> errorStats;
K::Statistics<float> errorStatsSmoothing;
struct TurnTest {
float rad = 0;
Point3 pos = Point3(81, 49, 0);
} tt;
//file writing for offline competition
long int t = static_cast<long int>(time(NULL));
std::ofstream compTrack3;
compTrack3.open ("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/ipin_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
compTrack3.setf(std::ios::fixed,std::ios::floatfield);
//compTrack3.precision(8);
std::ofstream compTrack4;
compTrack4.open ("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/ipinSmoothing_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
compTrack4.setf(std::ios::fixed,std::ios::floatfield);
std::ofstream errorFile;
errorFile.open ("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/error_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
std::ofstream errorFileSmoothing;
errorFileSmoothing.open ("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/errorSmoothing_" + std::to_string(numFile) + "_" + std::to_string(t) + ".csv");
MovingAVG<float> hPaRef(20);
MovingAVG<float> hPaCur(5);
bool newReferencePressureIsSet = false;
float pressureResetDelay = 0;
//Just for IPIN Competition
// parse each sensor-value within the offline data
for (const FileReader::Entry& e : fr.getEntries()) {
@@ -382,7 +485,53 @@ int main(int argc, char** argv) {
ctrl.barometer.tendence = baroTend.get();
/** toni activity */
ctrl.barometer.act = act.add(ts, fr.getBarometer()[e.idx].data);
std::pair<ActivityButterPressure::Activity, float> actAndBaro;
actAndBaro = act.add(ts, fr.getBarometer()[e.idx].data);
ctrl.barometer.act = actAndBaro.first;
obs.act = actAndBaro.first;
ctrl.barometer.actProbs = actProbs.add(ts, fr.getBarometer()[e.idx].data);
obs.actProbs = ctrl.barometer.actProbs;
//NOTE: the pressure value of actAndBaro was smoothed using a butterworth filter.
hPaCur.add(actAndBaro.second);
obs.hPa = hPaCur.get();
//do we need to reset the relative pressure? reset it,
//everytime we recognize a floor change. add a blocking window afterwards to prevent false detections
//NOTE: This is updated all 100 ms.
if(obs.act != ActivityButterPressure::Activity::STAY && ms - pressureResetDelay < 20000){
//call the reset just once.
if(!newReferencePressureIsSet){
obs.referencePressure = hPaRef.get();
newReferencePressureIsSet = true;
}
ctrl.barometer.resetRelPressure = false;
//TODO: ms instead of fixed number 10000 ms (10sec) should be good
}else if(ms - pressureResetDelay < 20000 && newReferencePressureIsSet){
//do nothing
}else{
newReferencePressureIsSet = false;
hPaRef.add(actAndBaro.second);
obs.referencePressure = hPaRef.get();
ctrl.barometer.resetRelPressure = true;
pressureResetDelay = ms;
}
/** baro for eval test */
// hPaHist.push_back(fr.getBarometer()[e.idx].data.hPa);
// float diff = 0.0f;
// if(hPaHist.size() > 22){
// const float front = (hPaHist.end()[-3] + hPaHist.end()[-2] + hPaHist.end()[-1]) / 3;
// const float back = (hPaHist.end()[-19] + hPaHist.end()[-20] + hPaHist.end()[-21]) / 3;;
// diff = front - back;
// }
}
@@ -392,19 +541,47 @@ int main(int argc, char** argv) {
// ((PFTrans*)pf.getTransition())->modWifi.obs = &obs;
Point3 mapPos = Point3(0,0,0);
if(!fr.getPositions().empty()){
FileReader::Position worldPos = path.get(e.ts);
//Point2 mapPos2 = setup.scaler.convert(worldPos.lat, worldPos.lon);
//Point3 mapPos = Point3(mapPos2.x, mapPos2.y, 0);
const Point3 mapPos = setup.scaler.convert3D(worldPos.lat, worldPos.lon, worldPos.floorNr);
mapPos = setup.scaler.convert3D(worldPos.lat, worldPos.lon, worldPos.floorNr);
}
MyState est = pf.update(&ctrl, obs);
Point3 estPos = est.position.inMeter();
//save the current estimation for later smoothing.
pfHistory.push_back(pf.getNonResamplingParticles());
tsHistory.push_back(ms);
pathEst.push_back(estPos);
//discrete floors
//estPos.z = static_cast<int>(estPos.z + 0.5);
//write into file in IPIN format
IPIN estIPIN = setup.scaler.toIPIN3(estPos);
//ts in sec, lat, long, floorID, buildingID
//we need to interpolate the results to exact 0.5 timestamps
compTrack3 << std::setprecision(1) << (std::llround(ts.sec()*2) / 2.0) << "," << std::setprecision(9) << estIPIN.lon << "," << estIPIN.lat << "," << static_cast<int>(estIPIN.floorNr + 0.5) << "," << setup.buildingNum << "\n";
plot.pInterest.clear();
/** check if ground truth is correctly printed
static int floor = 0;
if(floor < map->floors.size() + 1){
plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/", floor);
++floor;
}else{
plot.gp << "set terminal qt\n";
plot.gp << "set zrange [0 :" << floor << "]\n";
}
*/
static float angleSum = 0; angleSum += ctrl.turnAngle;
//plot.showAngle(1, ctrl.turnAngle);
plot.showAngle(2, angleSum + M_PI);
@@ -416,24 +593,29 @@ int main(int argc, char** argv) {
plot.setEst(estPos);
plot.setGT(mapPos);
plot.addParticles(pf.getParticles());
plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";
plot.addEstimationNode(estPos);
//plot.addParticles(pf.getParticles());
//plot.gp << "set arrow 919 from " << tt.pos.x << "," << tt.pos.y << "," << tt.pos.z << " to "<< tt.pos.x << "," << tt.pos.y << "," << tt.pos.z+1 << "lw 3\n";
plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
plot.gp << "set label 1002 at screen 0.02, 0.94 'tend:" << ((std::abs(baroTend.get()) > 0.06) ? "1" : "0") << " val: " << baroTend.get() << "'\n";
plot.gp << "set label 1002 at screen 0.98, 0.98 'act:" << ctrl.barometer.act << "'\n";
//plot.gp << "set label 1001 at screen 0.02, 0.98 'base:" << relBaro.getBaseAvg() << " sigma:" << relBaro.getSigma() << " cur:" << relBaro.getPressureRealtiveToStart() << " hPa " << -relBaro.getPressureRealtiveToStart()/0.10/4.0f << " floor'\n";
int minutes = static_cast<int>(ts.sec()) / 60;
plot.gp << "set label 1002 at screen 0.02, 0.94 'Time: " << minutes << ":" << static_cast<int>(static_cast<int>(ts.sec())%60) << "'\n";
//plot.gp << "set label 1002 at screen 0.98, 0.98 'act:" << ctrl.barometer.act << "'\n";
// error between GT and estimation
float err_m = mapPos.getDistance(estPos);
errorStats.add(err_m);
// debug
std::cout << err_m << std::endl;
std::cout << errorStats.asString() << std::endl;
std::cout << "ACHSENERKENNUNG AUF ACC FUER ROTATION??" << std::endl;
//std::cout << err_m << std::endl;
//std::cout << errorStats.asString() << std::endl;
//std::cout << "ACHSENERKENNUNG AUF ACC FUER ROTATION??" << std::endl;
errorFile << err_m << "\n";
plot.show();
usleep(1000*10);
usleep(100*100);
lastUpdateMS = ms;
@@ -442,54 +624,136 @@ int main(int argc, char** argv) {
ctrl.turnAngle = 0;
}
}
errorFile.close();
/*
K::Statistics<double> stats;
// Smoothing Part starts here
// ========================= //
bool smoothing = false;
//File
//std::ofstream statsout2("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/smoothed_" + runName + ".stats");
//stats.reset();
if(smoothing){
bf.reset();
for (FileReader::TS<FileReader::WiFis> scan : scans) {
MyState estBF;
//scan.data.groupVAPs();
//iterate thru all particle sets from T to t (currentParticleSetToSmoothAtTimeT)
for(long i = pfHistory.size() - 1; i >= 0 ; i -= 1){
estBF = bf.update(pfHistory[i]);
smoothedEst.push_back(estBF.position.inMeter());
}
plot.pColorPoints.clear();
std::reverse(smoothedEst.begin(), smoothedEst.end());
int itSize = bf.getbackwardParticles().size() - 1;
// ground truth
plot.pInterest.clear();
FileReader::Position worldPos = path.get(scan.ts);
Point2 mapPos2 = scaler.convert(worldPos.lat, worldPos.lon);
Point3 mapPos(mapPos2.x, mapPos2.y, 0);
for(unsigned int t = 0; t < smoothedEst.size(); ++t){
plot.pInterest.add(K::GnuplotPoint3(mapPos.x, mapPos.y, mapPos.z));
const Point3 curSmoothedEst = smoothedEst[t];
// update
stats.add( model.getProbability(scan, mapPos) );
Point3 mapPos = Point3(0,0,0);
if(!fr.getPositions().empty()){
FileReader::Position worldPos = path.get(tsHistory[t] / 1000.0);
mapPos = setup.scaler.convert3D(worldPos.lat, worldPos.lon, worldPos.floorNr);
}
const float step = 1.0;
float z = 0;
for (float x = -20; x < 90; x += step) {
for (float y = -10; y < 60; y += step) {
// error between GT and estimation
float err_m = mapPos.getDistance(curSmoothedEst);
errorStatsSmoothing.add(err_m);
double prob = model.getProbability(scan, Point3(x,y,z));
plot.pColorPoints.add(K::GnuplotPoint3(x,y,z), prob);
IPIN estIPINSmoothed = setup.scaler.toIPIN3(curSmoothedEst);
//ts in sec, lat, long, floorID, buildingID
//we need to interpolate the results to exact 0.5 timestamps
compTrack4 << std::setprecision(1) << (std::llround((tsHistory[t] / 1000.0) *2) / 2.0) << "," << std::setprecision(9) << estIPINSmoothed.lon << "," << estIPINSmoothed.lat << "," << static_cast<int>(estIPINSmoothed.floorNr + 0.5) << "," << setup.buildingNum << "\n";
// plot
plot.setEst(curSmoothedEst);
plot.setGT(mapPos);
plot.addEstimationNodeSmoothed(curSmoothedEst);
plot.addParticles(bf.getbackwardParticles()[itSize - t]);
//plot.show();
errorFileSmoothing << err_m << "\n";
// prevent gnuplot errors
//usleep(100*50);
}
}
errorFileSmoothing.close();
compTrack3.close();
compTrack4.close();
//Write the current plotti buffer into file
std::ofstream plotFile;
plotFile.open("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/gnu" + std::to_string(numFile) + "_" + std::to_string(t) + ".gp");
plot.saveToFile(plotFile);
plotFile.close();
for(int i = 0; i < map->floors.size(); ++i){
plot.printSingleFloor("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), i);
plot.show();
usleep(1000*50);
usleep(1000*10);
}
std::cout << stats.asString() << std::endl;
*/
plot.printSideView("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 90);
plot.show();
plot.printSideView("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t), 0);
plot.show();
sleep(1000);
plot.printOverview("/home/toni/Documents/programme/localization/IPIN2016/competition/eval/"+ folder + "/image" + std::to_string(numFile) + "_" + std::to_string(t));
plot.show();
sleep(1);
}
int main(int argc, char** argv) {
for(int i = 0; i < 11; ++i){
//Testing files
//run(data.UAH, 0, "UAHMAP");
//run(data.UAH, 1, "UAHMAP");
//run(data.UAH, 2, "UAHMAP");
//run(data.UAH, 3, "UAHMAP");
//run(data.UAH, 4, "UAHMAP");
//run(data.UAH, 5, "UAHMAP");
// run(data.UJI_UB, 0, "UJIBU");
// run(data.UJI_UB, 1, "UJIBU");
// run(data.UJI_UB, 2, "UJIBU");
// run(data.UJI_UB, 3, "UJIBU");
// run(data.UJI_UB, 4, "UJIBU");
// run(data.UJI_TI, 0, "UJITI");
// run(data.UJI_TI, 1, "UJITI");
// run(data.CAR, 0, "CAR");
// run(data.CAR, 1, "CAR");
// run(data.CAR, 2, "CAR");
// run(data.CAR, 3, "CAR");
//Evaluation files
// run(data.UJI_TI, 2, "EVAL"); // 1 no Baro
// run(data.UJI_UB, 5, "EVAL"); // 2
run(data.UAH, 6, "EVAL"); // 3
// run(data.UJI_TI, 3, "EVAL"); // 4 no Baro
// run(data.UAH, 7, "EVAL"); // 5
// run(data.CAR, 4, "EVAL"); // 6
// run(data.UAH, 8, "EVAL"); // 7
// run(data.UAH, 9, "EVAL"); // 8
// run(data.CAR, 5, "EVAL2"); // 9
}
}

284
competition/src/competition/map/CAR/CAR9.xml Normal file
View File

@@ -0,0 +1,284 @@
<map width="70" depth="50">
<floors>
<floor atHeight="0" height="4" name="0. Stock">
<outline>
<polygon name="new" method="0">
<point x="-0" y="40"/>
<point x="0" y="16"/>
<point x="21" y="16"/>
<point x="21" y="20"/>
<point x="44" y="20"/>
<point x="44" y="14"/>
<point x="7" y="14"/>
<point x="14" y="1"/>
<point x="56" y="1"/>
<point x="56" y="-0"/>
<point x="67" y="-0"/>
<point x="67" y="26"/>
<point x="65" y="26"/>
<point x="65" y="43"/>
<point x="51" y="43"/>
<point x="51" y="40"/>
</polygon>
<polygon name="new" method="0">
<point x="64" y="31"/>
<point x="64" y="21"/>
<point x="86" y="21"/>
<point x="86" y="31"/>
</polygon>
<polygon name="new" method="0">
<point x="-27" y="13"/>
<point x="-27" y="6"/>
<point x="46" y="6"/>
<point x="46" y="21"/>
<point x="-16" y="20"/>
</polygon>
<polygon name="new" method="0">
<point x="-16" y="20"/>
<point x="23" y="20"/>
<point x="84" y="28"/>
<point x="84" y="49"/>
<point x="30" y="49"/>
<point x="-15" y="47"/>
</polygon>
</outline>
<obstacles>
<line material="3" type="1" x1="12.6" y1="30" x2="12.6" y2="19.200001"/>
<line material="3" type="1" x1="12.6" y1="29.1" x2="13.400001" y2="29.1"/>
<line material="3" type="1" x1="14.8" y1="29.1" x2="14.8" y2="24.6"/>
<line material="3" type="1" x1="12.6" y1="24.6" x2="19.4" y2="24.6"/>
<line material="3" type="1" x1="16.800001" y1="29.1" x2="18.800001" y2="29.1"/>
<line material="3" type="1" x1="17.6" y1="29.1" x2="17.6" y2="24.6"/>
<line material="3" type="1" x1="19.700001" y1="29.1" x2="23.200001" y2="29.1"/>
<line material="3" type="1" x1="20.4" y1="29.1" x2="20.4" y2="17.200001"/>
<line material="3" type="1" x1="16.800001" y1="24.6" x2="16.800001" y2="17.200001"/>
<line material="3" type="1" x1="6.4000001" y1="17.200001" x2="20.800001" y2="17.200001"/>
<line material="3" type="1" x1="9" y1="22" x2="11.400001" y2="22"/>
<line material="3" type="1" x1="11.400001" y1="20" x2="11.400001" y2="22"/>
<line material="3" type="1" x1="11.400001" y1="20" x2="9" y2="20"/>
<line material="3" type="1" x1="9" y1="22" x2="9" y2="20"/>
<line material="3" type="1" x1="9" y1="24.800001" x2="9" y2="27.800001"/>
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<line material="3" type="1" x1="24.200001" y1="29.1" x2="27.6" y2="29.1"/>
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competition/src/competition/map/UAH/UAH10_rawObstacles.xml Normal file
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competition/src/competition/map/UAH/UAH11_rawObstacles.xml Normal file
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competition/src/competition/map/UAH/UAH9.xml Normal file
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tex/bare_conf.tex
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@@ -129,6 +129,9 @@
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\input{misc/functions}
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\begin{document}
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