def __init__(self, observation_database="observations.db", error_bound=1.0):
"""
"""
if not os.path.exists(observation_database):
raise Exception("Observation file doesn't exist: %s" % observation_database)
self.error_bound = error_bound
self.observations = CanonicalObservationDatabase(observation_database)
class LocationEngineMatch(object):
"""
"""
def __init__(self, observation_database="observations.db", error_bound=1.0):
"""
"""
if not os.path.exists(observation_database):
raise Exception("Observation file doesn't exist: %s" % observation_database)
self.error_bound = error_bound
self.observations = CanonicalObservationDatabase(observation_database)
def coordinates(self, distances):
"""
"""
possible_matches = self.observations.possible_locations(distances, self.error_bound)
if not possible_matches:
return 0.0, 0.0
sum_x, sum_y = 0.0, 0.0
for x, y in possible_matches:
sum_x += x
sum_y += y
n = len(possible_matches)
x = sum_x / n
y = sum_y / n
logging.debug("Found centroid of % d possible matches: (%.2f, %.2f)" % (n, x, y))
return x, y
else:
log_file = None
logging.basicConfig(filename=log_file, level=options.log_level,
format='%(asctime)s %(levelname)s %(message)s',
filemode='w')
config = Config()
if os.path.exists(options.config):
config.load_file(options.config)
experiment = load_experiment(options.experiment)
grid_size = 0.25
if os.path.exists(options.observation_database):
sys.exit("Observation database (%s) already exists" % options.observation_database)
observations = CanonicalObservationDatabase(options.observation_database)
observations.populate_observation_grid(config.min_x, config.max_x, config.min_y, config.max_y, grid_size)
for anchor_id, (x, y) in config.anchors.items():
observations.add_anchor(anchor_id, x, y)
count = 0
sql = "SELECT anchor_id, tag_id, distance, timestamp FROM distance_reading ORDER BY timestamp"
for anchor_id, tag_id, distance, timestamp in experiment.query(sql):
# Find a nearby observation (there should be exactly one, or four equidistant)
try:
x, y = experiment.ground_truth(tag_id, timestamp)
except:
logging.debug("Skipping observation without ground truth.")
options, args = option_parser.parse_args()
# Start logging.
if options.log_file:
log_file = os.path.join(working_dir, options.log_file)
else:
log_file = None
logging.basicConfig(filename=log_file, level=options.log_level,
format='%(asctime)s %(levelname)s %(message)s',
filemode='w')
config = Config()
backend_api = config.load_rtls()
arena_id = 1
observations = CanonicalObservationDatabase(options.observation_database)
distances_by_anchor_observation = {}
# Keep some arrays, in arbitrary (but identical) order
d = [] # ground truth distance
m = [] # median observed distance
D = [] # distance arrays
er = [] # errors (m - d)
a = [] # anchor IDs
l = [] # observation locations
images = {}
anchors = observations.anchors()
for anchor_id, (ax, ay) in anchors.items():
